In a large mixing bowl, combine warm milk, melted butter, and sugar. Sprinkle yeast over the mixture and let it sit for 5 minutes until foamy.
Add flour and salt to the bowl, mixing until a dough forms. Knead the dough for about 10 minutes until smooth and elastic.
Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place for about 1 hour or until doubled in size.
Preheat the oven to 375°F (190°C). Punch down the dough and divide it into 12 equal pieces. Shape each piece into a roll and place on a greased baking sheet.
Cover the rolls with a damp cloth and let them rise for another 30 minutes.
Bake in the preheated oven for 15 minutes or until golden brown. Brush with additional melted butter if desired.