Dissolve yeast in warm water and let it sit until foamy, about 5 minutes.
Mix sugar, melted butter, and warm milk with the yeast mixture in a large bowl.
Gradually add flour and salt, mixing until the dough is smooth and elastic.
Knead the dough on a lightly floured surface for about 8 minutes. Place in a greased bowl, cover, and let it rise until doubled, around 1.5 hours.
Punch down the dough and divide into 12 even pieces. Shape into rolls and arrange on a greased baking sheet.
Cover the rolls and let them rise again until doubled in size, about 30 minutes.
Preheat oven to 375°F. Brush rolls with softened butter.
Bake for 15-20 minutes or until golden brown. Serve warm!