In a small bowl, combine sugar, yeast, and warm water. Let yeast sit until it foams (5-10 minutes).
In a the bowl of a stand mixer fitted with a paddle attachment, mix the warm milk, melted butter, egg, and salt.
Add the yeast mixture to the milk mixture; stir to combine.
Stir in 3 cups of flour.
Switch to dough hook. Stir in remaining flour as needed until dough clings to dough hook but clears the sides of the bowl.
Knead for 5-10 minutes to make a smooth, elastic dough.
Grease a bowl and place dough in, turning to grease the top. Cover with a clean, damp cloth.
Place in a warm location; let rise until doubled in size, about 60-90 minutes.
Grease a 12-cup muffin pan.
Punch down the dough and divide into 24 pieces.
Roll each piece into a ball. Place two balls in each muffin cup.
Cover with a clean towel.
Let rolls rise in a warm place until nearly doubled in size, about 30-45 minutes.
Preheat oven to 350 F.
Bake rolls for 20-25 minutes, or until tops are browned and rolls are done. (Check rolls after 15 minutes, and cover loosely with foil to prevent excess browning, if needed.)
Video
[adthrive-in-post-video-player video-id="B3aMIsjk" upload-date="2019-10-30T01:24:45.000Z" name="HOW TO SHAPE DINNER ROLLS" description=" Video showing how to shape dinner rolls"]