In a small saucepan, stir milk, sugar, and butter together. Heat over low heat just until butter melts and sugar dissolves. Cool to about 100-105 F then pour into the stand mixer bowl.
Add yeast and warm water. Let stand for 5-10 minutes, or until yeast is foamy.
Add 2 cups flour and salt to yeast mixture. Using a dough hook, mix on low speed for about 1 minute.
With the mixer still going, add remaining flour. Mix about 1 ½ minutes, or until dough starts to clean the sides of the bowl.
Knead on low speed for about 2 more minutes, or until dough is smooth and elastic – the dough will still be slightly sticky to the touch.
Place dough in a greased bowl (you can use butter, shortening or cooking oil). Turn it over so that the top is greased. Cover the dough with a clean, dry dish towel.
Let it rise in a warm place, free from draft, for about 15 minutes.
Turn the dough onto a lightly floured surface, and divide into 12 equal pieces.
Form the balls into a long dough and cut into 3 pieces. Roll into balls.
Fit the 3 dough balls in each muffin cup.
Cover the muffin pan with the dish towel and let the dough rise for about 15 minutes.
Bake at 425ºF for 9-12 minutes, or until the rolls are golden brown.
After taking it out of the oven, brush rolls immediately with melted butter.