In a small bowl, dissolve yeast in warm water and let sit for about 5 minutes, until the mixture becomes frothy.
2¼ teaspoons active dry yeast, ¼ cup warm water
In a large bowl, combine the warm milk, sugar, salt, melted butter, and the yeast mixture. Stir until the sugar is dissolved.
1 cup whole milk, 2 Tablespoons sugar, 1 teaspoon salt
Gradually add flour to the wet mixture, stirring to form a soft dough. The dough should be slightly sticky but manageable.
3½ cups all-purpose flour
Turn the dough onto a lightly floured surface and knead for about 5-7 minutes, until the dough is smooth and elastic. Alternatively, use a stand mixer with a dough hook
Transfer the dough to a greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for about 1 hour, or until it has doubled in size.
After the dough has risen, punch it down and roll it out on a lightly floured surface into a 1/2-inch thick rectangle. Cut the dough into 12 pieces. Fold each piece in half, and gently press the fold to secure the shape.
Place the rolls on a greased baking sheet, about 2 inches apart, and cover them again with a towel. Let them rise for another 30 minutes.
Preheat your oven to 350°F.
Brush the rolls with melted butter and bake for 15-20 minutes, or until the tops are golden brown.
¼ cup unsalted butter
Once the rolls are out of the oven, brush them with additional melted butter and serve warm.