Whisk the warm milk, yeast, and 1 tablespoon of sugar together in the bowl of your stand mixer. Cover and allow to sit for 5 minutes.

Add the remaining sugar, egg, butter, salt, and 1 cup flour. With a dough hook or paddle attachment, mix/beat on low speed for 30 seconds, scrape down the sides of the bowl with a silicone spatula, then add the remaining flour. Beat on medium speed until the dough comes together and pulls away from the sides of the bowl, about 2 minutes.

Keep the dough in the mixer and beat for an additional 5 full minutes, or knead by hand on a lightly floured surface for 5 full minutes.

Lightly grease a large bowl with oil or nonstick spray. Place the dough in the bowl, turning it to coat all sides in the oil. Cover the bowl and allow to rise for 1-2 hours or until double in size.

Grease a 9×13 inch baking pan or two 9-inch square or round baking pans.

When the dough is ready, punch it down to release the air. Divide the dough into 14-16 equal pieces. Shape each piece into a smooth ball and arrange in prepared baking pan.

Cover shaped rolls and allow to rise until puffy, about 1 hour.

Adjust oven rack to a lower position and preheat oven to 350°F (177°C).

Bake for 20-25 minutes or until golden brown on top, rotating the pan halfway through.

Cover leftover rolls tightly and store at room temperature for 2-3 days or in the refrigerator for up to 1 week.