Add 1 cup of the warm milk to a large mixing bowl, sprinkle the yeast on top and stir to combine. Stir in the flour and salt until well combined and a dough is formed.
Add the butter to the dough and knead by hand for about 5 minutes.
Form the dough into a ball and place in a large clean bowl. Loosely cover the bowl and set in a warm place until doubled in size, about 1 hour.
Line a 9x13 baking dish with parchment paper.
Punch down the dough and separate into 12 equal size pieces. Roll the dough pieces into smooth balls and place in the baking dish about 1/2-inch apart.
Brush the tops of the rolls with the remaining 1 TBSP of warm milk. Set aside for 20 minutes to allow the rolls to rise a bit more.
Preheat the oven to 375°F.
Bake the rolls in the preheated oven until tops are golden brown, about 20 minutes.
Take the rolls out of the oven and set aside to cool.
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