Activate Yeast
In a bowl, mix warm milk, sugar, and yeast. Let sit 5–10 minutes until foamy.
Make the Dough
Add flour, salt, and melted butter. Mix and knead until smooth and elastic (8–10 minutes).
First Rise
Place dough in a greased bowl, cover, and let rise until doubled (about 1 hour).
Prepare Garlic Filling
Mix softened butter, garlic, salt, herbs, and Parmesan if using.
Shape Rolls
Roll dough into a rectangle. Spread garlic butter evenly. Roll tightly into a log and slice into 12 rolls.
Second Rise
Arrange rolls in a greased baking dish. Cover and rise 15–20 minutes until puffy.
Bake
Bake at 375°F (190°C) for 20–22 minutes until lightly golden.
Finish & Serve
Brush with melted butter if desired. Serve warm.