Line a rimmed baking sheet with parchment paper or a silicone baking mat. Set aside.
In a small saucepan, stir milk, sugar, and 1/3 cup butter together. Heat over low heat just until butter melts and sugar dissolves. Cool to about 100-105 F.
Pour the milk mixture into the bowl of a stand mixer.
Add the yeast and warm water. Let stand for 5-10 minutes, or until yeast is foamy.
Add 2 cups flour and salt to yeast mixture. Using a dough hook, mix on low speed for about 1 minute.
With the mixer still going, add remaining flour, 1/2 cup at a time. Mix about 1 ½ minutes, or until dough starts to clean the sides of the bowl.
Knead on low speed for about 2 more minutes, or until dough is smooth and elastic – the dough will still be slightly sticky to the touch.
Place dough in a greased bowl, turning it to grease the top. Cover the dough with a clean, dry dish towel.
Let it rise in a warm place, free from draft, for about 15 minutes.
Turn the dough onto a lightly floured surface, and divide into 2 equal pieces.
On a lightly floured surface, roll one piece of dough a circle that’s about 9 inches in diameter.
Melt the remaining butter, and brush dough with half of the remaining melted butter.
Cut into dough into 8 pieces.
Roll each piece up, starting at the wide end.
Place on rimmed baking sheet lined with parchment paper or a silicone baking mat.
Repeat with remaining dough, using the remaining half of the melted butter.
Cover the baking sheet with a dish towel, and let the dough rise for about 15 minutes.
Preheat oven to 400 F.
Bake for about 7-10 minutes, or until the rolls are golden brown.
Rolls are best enjoyed while warm.
Notes
I've used everything from skim milk to whole milk to make these rolls, and they work well with every type of milk.
If you'd like to use instant yeast, substitute an equal amount of instant yeast. Skip the 5-10 minute wait, and continue with the recipe as written.