In a small bowl or measuring cup, stir together the yeast and 1 teaspoon of the sugar with warm (95-105 degrees F) water. Let it sit for 4 to 5 minutes or until the yeast has activated (yeast should look foamy).
1 ½ tablespoons active dry yeast, ½ cup warm water
Pour the yeast mixture into the bowl of a stand mixer fitted with a dough hook. Add the remaining sugar and the salt. Mix briefly on low speed.
1 teaspoon salt
With the mixer running at low speed, start adding the flour and milk, alternately, starting and ending with the flour. With each addition, mix until the flour is almost fully incorporated before adding more.
4 cups all-purpose flour, 1 cup milk
When all the flour has been added, turn the mixer up to medium speed. Mix until the dough forms a tacky ball that detaches from the sides of the bowl.
Transfer the dough to a working surface lightly sprinkled with flour, and knead until smooth (about 5 minutes).
Lightly oil a bowl; Place the kneaded dough into the bowl and turn it over (there should be a very light amount of oil on the top of the turned dough).
Cover the bowl with plastic wrap and let it rise for 45 to 60 minutes (or until it doubles in size) in a warm, draft-free place.
While the dough is rising, oil (or spray) two 12-cup muffin or cupcake pans and set them aside.
When the dough has doubled in size, remove it from the bowl to a lightly floured surface. Gently punch down and deflate the dough.
Roll the dough into a 12 x 12 square.
Brush half the melted butter on the dough.
Cut the dough into 12 1-inch wide strips.
Cut the strips in half crosswise. (You should have 24 strips of 1 inch by 6 inches.)
Stack 6 strips on top of each other and cut them into 6 equal pieces. Place each cut piece into one well of a muffin or cupcake pan.
Cover with a towel and let the rolls rise in a warm, draft-free place for 20-30 minutes.
Near the end of the rising time, preheat the oven to 375 degrees F.
Bake the rolls in the preheated oven for 17 to 19 minutes or until golden brown. (Internal temperature should be 190 degrees F.)
Remove from the oven and brush the tops of the rolls with the remaining two tablespoons of melted butter.
Cool in the pan for 3 to 4 minutes; transfer to a wire rack to finish cooling.
Notes
There are many helpful tips throughout the post. Please refer to those for more detailed information.
To keep leftovers fresh, store the rolls in an airtight container at room temperature for up to 2 days.
For longer storage, keep in a freezer-safe bag for up to 1 month. Simply reheat in the oven (wrap in foil and heat at 350 for about 5 minutes) or in the air fryer for 2 minutes before serving.