In a small bowl, add milk and sugar, sprinkle yeast over top.
Let set until foamy and yeast dissolves, about 5 minutes.
Add the mixture to large mixing bowl, add ¼ cup butter, egg, salt and 2 cups of flour.
Beat on medium speed until the batter is smooth.
Gradually add flour until a soft ball of dough forms.
Increase the speed on mixer to medium high and beat for 2-3 minutes longer. Dough should be tacky, but not sticky. If too sticky, add more flour 1 tablespoon at a time.
Lightly grease large bowl and place dough in ball, turning once to coat.
Cover dough with a clean dish towel and plastic wrap, if desired and set in a warm place to rise until doubled in size, about 45-60 minutes.
Punch down dough gently.
Lightly flour work surface and turn dough out of bowl and knead lightly if necessary.
Let set a few minutes while you prepare the baking sheets with a silicone mat or by spraying with non-stick cooking spray.
Roll dough out to 12x8 inch rectangle, ½ inch thick on a floured work surface.
Cut dough into even pieces using a sharp knife.
Transfer rolls to prepared baking sheets.
Cover with dish towel and let rise until almost doubled in size, 45-60 minutes.
About 20 minutes prior to rising being done, preheat oven to 350 degrees F.
Bake rolls for 12-15 minutes or until golden brown.
Remove from oven and brush with melted butter.