In the bowl of a stand mixer fitted with the hook attachment add the warm milk and active dry yeast. Let sit for 5 minutes.
In the bowl with the milk and yeast add the flour, sugar, and softened butter. Mix on low speed until the ingredients are combined.
Add the salt and turn the mixer to medium-low speed for 6 minutes.
Spray a medium bowl with non-stick spray and place dough in the bowl. Cover with a clean towel and let sit in a warm place for 1 hour.
When the dough has doubled in size remove it from the bowl and divide it into 40-gram pieces. If you do not have a scale just make them as close in size as possible. They should be a little bigger than a golf ball.
Roll the dough into balls and place on a baking sheet lined with a silicone mat or parchment paper. Cover the baking sheet with a clean towel and let sit in a warm place for 40 minutes.
Preheat the oven to 375 degrees (F). Lightly brush each dough ball with melted butter.
Bake for 15-20 minutes or until the rolls are golden brown.