In a small saucepan, gently heat the milk until it’s warm but not boiling. Remove from heat and sprinkle in the instant dry yeast and granulated sugar. Let sit for about 5-10 minutes until frothy.
In a large mixing bowl, combine the frothy yeast mixture, soft salted butter, and egg. Whisk until well combined.
In another bowl, mix the plain flour and salt. Gradually add to the wet ingredients, stirring until a soft dough forms.
Turn the dough out onto a lightly floured surface. Knead for about 8-10 minutes until smooth and elastic.
Lightly oil the mixing bowl and place the dough inside, turning to coat. Cover with a clean kitchen towel and let rise in a warm place for about 1 hour.
Punch down the dough and divide into 12 equal pieces. Shape each into a ball and place on a baking sheet lined with parchment paper.
Cover the shaped rolls with the kitchen towel and let rise for another 30-45 minutes.
Preheat your oven to 190°C (375°F).
Bake the rolls for 15-20 minutes, or until golden brown.
Remove from the oven and let cool slightly on a wire rack before serving.