In a large mixing bowl, combine warm milk, melted butter, and sugar. Sprinkle yeast over the mixture and let it sit for 5 minutes until foamy.
Add beaten eggs and salt to the yeast mixture. Gradually add flour, one cup at a time, mixing until a soft dough forms.
Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic. Place the dough in a greased bowl, cover, and let it rise in a warm place for 1-2 hours until doubled in size.
Preheat oven to 375°F (190°C). Punch down the dough and divide it into two equal parts. Roll each part into a circle and cut into 12 wedges. Roll each wedge from the wide end to the point to form a crescent shape.
Place rolls on a greased baking sheet, cover, and let them rise for another 30 minutes. Bake for 12-15 minutes until golden brown. Serve warm.