In the bowl of a stand mixer, combine the warm milk, yeast, and a pinch of the sugar and let rest until foamy, about 5-10 minutes.
Add the remaining sugar, softened butter, eggs, and salt to the yeast mixture.
Mix in half the flour on low speed until a shaggy dough forms.
Add the remaining flour and knead with dough hook on medium speed for 5-7 minutes until smooth and pulling away from the bowl.
Transfer the dough to an oiled bowl, turning to coat, and cover with plastic wrap.
Let rise in a warm spot for 1.5-2 hours until doubled.
Punch down the dough and divide into 15 equal pieces.
Shape each piece into a smooth ball and place in a greased 9x13-inch baking pan.
Cover with plastic wrap and let rise 60-75 minutes until puffy and touching.
Preheat the oven to 375F.
Bake for 20-25 minutes, rotating halfway, until deep golden brown.
Brush the warm rolls generously with the melted butter.