Warm the whole milk to about 110°F. In a mixing bowl, combine the warm milk, melted butter, and yeast. Add the sugar, stir gently, and let sit for 5-10 minutes until frothy.
In a separate bowl, whisk together the flour and salt. Reserve 1 to 3 tablespoons of flour for adjustments.
Pour the yeast mixture into the dry ingredients and mix until a dough forms. If sticky, gradually add reserved flour until manageable.
Turn the dough onto a floured surface and knead for 8-10 minutes until smooth and elastic.
Place the kneaded dough in a greased bowl and cover with a towel. Let rise in a warm area until doubled in size, about 1 to 1.5 hours.
Punch down the risen dough and divide into 12 equal pieces. Shape each into a ball.
Place the shaped rolls on a greased baking sheet, cover with a towel, and let rise again for 30-45 minutes until puffed.
Preheat the oven to 375°F. Brush tops with melted butter and sprinkle with kosher salt. Bake for 20-25 minutes until golden brown.
Remove from oven and let cool on a wire rack. Serve warm.