Warm the liquid. Heat the milk in the microwave for 30-40 seconds. The temperature must not exceed 110F. Any more than that would kill the yeast. Mix in sugar.
Add yeast: Cover and rest for 5-10 mins. Until foamy.
Make Dough: Add 1 cup of flour, 1/2 of the specified amount of butter. Stir using a spoon. Add salt and the remaining 1+3/4 cup of flour and start kneading. You can add this part by part to make kneading easier.
Once all the flour is incorporated, transfer the dough to a counter, add remaining butter and flour (not more than 3 cups) and knead until you get a soft and bouncy dough.
First Rise: Grease a large bowl, place the dough and cover it with a damp cloth. This helps in retaining moisture. Let it rise for 1-2 hours in a warm place. The dough should double its size. If you want to fasten the rise time, preheat the oven to 170F and turn it off. Place the dough inside the oven for 1st rise. Leave the oven door slightly open.
Make the Roll: Punch down the dough to release the air and shape into rolls. This makes around 12 rolls. Divide the dough into equal parts and take a piece and stretch the top of the dough while pinching and sealing the bottom or you could also place the dough between your palm and counter and roll it around to shape it round. Whichever is easier.
Second Rise :Cover and let it rest for another hour.
Brush butter and milk : For golden crust, brush the top lightly with butter and milk just before baking.
Bake: Preheat the oven 375 F and bake for 20-25 mins or until the top is golden.
Remove the baking dish from the oven, and brush the tops of the rolls with butter & sea salt (optional). Cover the baking dish with moist/damp cloth for 10 mins. This will help the crust to remain softer. Serve warm.
Cover leftover rolls tightly and store in the refrigerator for up to 1 week or 2-3 days in room temperature