In a mixing bowl, combine warm milk, melted butter, and sugar. Sprinkle yeast over the mixture and let it sit for 5 minutes.
Add flour and salt to the mixture. Stir until a dough forms.
Knead the dough on a floured surface for about 10 minutes until smooth and elastic.
Place the dough in a greased bowl, cover, and let it rise in a warm place for about 1 hour or until doubled in size.
Preheat oven to 375°F (190°C). Punch down the dough and divide it into 12 equal pieces. Shape each piece into a ball and place on a greased baking sheet.
Cover and let rise for another 30 minutes.
Bake in preheated oven for 15-20 minutes or until golden brown.