In a bowl, combine warm milk, yeast, and sugar. Let sit for 5-10 minutes until frothy.
Add flour, salt, softened butter, and egg. Mix until a dough forms.
Knead the dough for 8-10 minutes until smooth and elastic.
Place dough in a greased bowl, cover, and let rise for 1 hour or until doubled in size.
Divide dough into 9-12 pieces and shape into rolls. Place in a greased baking dish.
Cover and let rise again for 30 minutes.
Preheat oven to 375°F (190°C).
Bake rolls for 18-20 minutes or until golden brown.
Mix melted butter with minced garlic and brush over warm rolls.
Garnish with chopped parsley if desired.