In a small bowl, dissolve the active dry yeast and 1 teaspoon of sugar in the warm water. Let it sit for 5 to 10 minutes until foamy.
In a large mixing bowl, combine the flour, remaining sugar, and salt.
In a separate bowl, whisk together the warm milk, melted butter, and egg.
Pour the yeast mixture and the milk mixture into the flour mixture.
Stir with a wooden spoon or dough hook attachment until a sticky dough forms.
Turn the dough out onto a lightly floured surface and knead for about 8 to 10 minutes until smooth and elastic. Alternatively, knead with a stand mixer fitted with a dough hook for 6 to 8 minutes.
Place the dough in a lightly greased bowl, cover with a clean kitchen towel or plastic wrap, and let it rise in a warm place for 1 hour or until doubled in size.
Punch down the dough to release air bubbles and turn it out onto a floured surface.
Divide the dough into 12 equal pieces and shape each piece into a smooth ball.
Place the dough balls on a baking sheet lined with parchment paper, spaced about 2 inches apart.
Cover the rolls with a kitchen towel and let them rise for another 30 minutes until puffy.
Preheat the oven to 375°F (190°C).
Optional: Brush the tops of the rolls with melted butter for a softer crust or with an egg wash (1 beaten egg with 1 tablespoon water) for a shiny crust.
Bake the rolls in the preheated oven for 18 to 20 minutes or until golden brown on top.
Remove from the oven and transfer the rolls to a wire rack to cool slightly before serving.