In a large mixing bowl, combine warm milk, sugar, and yeast. Let it sit for 5 minutes until frothy.
Add melted butter and egg. Stir to combine.
Add flour and salt. Mix until a soft dough forms.
Knead the dough on a floured surface for 6–8 minutes until smooth and elastic.
Place dough in a greased bowl, cover, and let rise in a warm place until doubled (about 1 hour).
Punch down the dough and divide it into 12 equal pieces. Shape into rolls.
Place rolls in a greased 9x13 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.
While they bake, melt 3 tablespoons of butter and stir in the garlic.
Brush garlic butter over warm rolls and sprinkle with parsley if using. Serve warm!