Proof the yeast: Combine warm water and sugar, then sprinkle yeast over the water. Let it sit for about 5 minutes, until it becomes foamy.
Mix the dough: In a large mixing bowl, combine milk, butter, and the proofed yeast mixture. Stir in flour and salt to form a dough.
Knead the dough: Turn the dough out onto a floured surface and knead for 6-8 minutes until smooth.
Let it rise: Place the dough in a greased bowl and cover with a cloth. Let it rise for about 1 hour, or until it doubles in size.
Shape the rolls: After the dough rises, punch it down and divide it into 12 equal portions. Shape each into a ball and place them onto a greased baking sheet.
Second rise: Cover the rolls with a cloth and let them rise for another 30 minutes.
Bake the rolls: Preheat the oven to 350°F (175°C). Bake the rolls for about 20 minutes, or until they are golden brown.
Optional: Brush the tops with butter for extra flavor.