Prep
Warm milk to about 110°F (warm to the touch, not hot).
Lightly grease a cast-iron or oven-safe skillet.
Activate Yeast
In a large bowl, combine warm milk and sugar.
Stir in yeast and let sit 5 minutes, until foamy.
Mix Dough
Add melted butter, egg, and salt.
Gradually stir in flour until a soft dough forms.
Knead
Knead lightly for 3–4 minutes until smooth and elastic.
First Rise
Cover and let rise 30–45 minutes, until doubled in size.
Shape Rolls
Divide dough into equal pieces and roll into balls.
Arrange snugly in the prepared skillet.
Second Rise
Cover and let rise 15–20 minutes.
Bake
Bake at 375°F (190°C) for 18–22 minutes, until golden brown.
Finish
Brush hot rolls with melted butter.
Cool 5 minutes before serving.