In a small bowl, whisk together warm water, dry yeast and sugar. Wait for 5 minutes.
Method 1 (Kneading With Hands): In a large bowl, combine flour, salt, milk and butter. Pour the proofed yeast in the large mixture and combine everything using your hands. Knead it with your hands right in the bowl. Wet your fingers with a little water occasionally so that the dough doesn't stick. Keep kneading until you have a smooth but slightly sticky dough.
Method 2 (Using Stand Mixer): Put flour, salt, milk and melted butter in the bowl of your stand mixer. Pour the proofed yeast over them. Beat using the dough hook or paddle attachment of your stand mixer on low speed until the dough comes together and pulls away from the sides. Keep beating for 1-2 minutes until you have a smooth and slightly sticky dough.
First Rise: Transfer the dough into a large bowl that is slightly greased (not just the bottom, all the sides inside). Cover with a clean kitchen towel or plastic wrap and let it sit at room temperature for 1 hour to rise.
When the dough doubles in size, punch it down to release the air.
Second Rise: Transfer the dough on the slightly floured counter and shape it into a log. Cut it into 12 slices. Roll each into a ball and place them in a 9x13 baking pan that is lined with parchment paper. Cover with a clean kitchen towel or plastic wrap and let them rise, at least for 40 minutes.
Preheat oven to 375F/190C.
Bake the rolls for 15-20 minutes or until golden.
Remove from the oven and brush each with melted butter and let them cool for about 10 minutes before serving.
Keep the leftover rolls tightly covered at room temperature for 2-3 days or in the refrigerator up to 1 week.
Make sure everything is warm. Otherwise your dough won't rise.
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