Pour milk into a small saucepan and over medium heat, bring to a simmer. Remove saucepan from the stove, stir in the butter and sugar and set aside to let it cool.
In a separate bowl, dissolve yeast in warm water and let sit until foamy. Combine milk mixture, eggs, yeast, salt, and 3 cups of the flour in a mixer (I used my Bosch) with the dough attachment and mix until smooth. Add the remaining flour, ½ cup at a time, and stir until a smooth ball forms.
Remove dough from the bowl and knead by hand on a floured surface (it also helps to have flour on your hands too!) for about 5 minutes. Place dough in a large bowl sprayed with non-stick cooking spray, cover with plastic wrap, and let rise in a warm place until doubled in size (about 60 to 75 minutes).
Remove the dough from the bowl and on a floured surface, punch down the dough and shape into desired shapes (I just made little balls for rolls). Place on a large cookie sheet (15x10x1") that has been covered with wax paper or a silicone baking sheet . Cover dough and let rise until doubled in size (about 30 to 40 minutes).
Preheat the oven 350℉ and remove covering from rolls. Bake for about 20 minutes or until rolls start to turn golden brown. Remove from the oven and brush with melted butter before serving (completely optional, but it is delicious!).
Notes
Place these rolls in an airtight container after they have cooled down to room temperature. Enjoy them the next day or up to 3 days later.