In the bowl of your stand mixer, add warm milk and the yeast. Let sit to allow yeast activation – about 10 minutes.
Add sugar, butter and salt to the yeast mixture. Turn the mixer on medium speed with the dough hook attached, add half of flour. Begin kneading dough for a few minutes. Add remaining flour and knead until a smooth and soft ball forms.
Place ball of dough in a lightly oiled bowl and cover with a towel for about 1-2 hours or until dough doubles in size.
Roll the dough into a long log about 12 inches long. Cut 12 equal pieces from the log and roll into a soft smooth ball. Transfer to a parchment paper lined baking sheet. Cover with a clean towel and let rise another hour or until double in size.
Preheat oven to 375 degrees.
In a small bowl, whisk 1 egg and 1 tablespoon milk. Baste tops of rolls with egg wash.
Place rolls in the preheated oven and bake for 13-15 minutes until tops are golden. When done, transfer rolls to a cooling rack and let cool completely.