Start dough. Combine the milk, sugar, yeast, melted butter, and salt in the bowl of a stand mixer and stir to combine.
Add flour. Mix in two cups of flour until combined, then add the remaining flour gradually until the dough pulls away from the sides of the bowl. It should be soft and slightly tacky.
Knead. Knead with the dough hook for about 5-10 minutes, until smooth and elastic. The dough is finished kneading when a golf ball size piece has translucent areas when you try to stretch it out and hold it up to the light.
First rise. Cover and let rise in a warm place for 90 minutes, or until doubled in size.
Shape. Line a 9x13 inch baking dish with parchment paper or grease lightly. Turn dough out and divide into 12 equal pieces. Shape each into a smooth ball and place in the prepared dish.
Second rise. Cover and let rise for another 30 minutes until puffy. Preheat oven to 375°F.
Dust with flour and bake. Use a fine mesh strainer to dust the tops lightly with flour. Bake for 20-25 minutes, until golden brown.
Cool. Cool in the pan for 10 minutes before serving.