In a large bowl, stir together the warm milk with the yeast until dissolved and slightly foamy.

Add sugar, flour, egg, salt, and softened unsalted butter to the yeast mixture. Stir until a shaggy dough forms.

Turn the dough onto a clean surface and knead for 15 minutes until the dough becomes smooth and elastic.

Transfer dough to a lightly oiled bowl, cover with cling wrap, and place in a warm, humid spot for about 90 minutes, or until doubled in size.

Punch down the risen dough and divide into 12 equal pieces, rolling each into a smooth ball.

Place the rolls onto a lined 9×13-inch baking sheet, spaced evenly. Use a pastry brush to coat the rolls with the egg wash (egg yolk mixed with milk).

Let the rolls rise in a warm spot for 30-45 minutes until puffy.

Preheat the oven to 350°F (175°C) about 20 minutes before baking the rolls.

Brush the rolls with more egg wash before baking.

Bake the rolls for 20-22 minutes until golden brown.

While the rolls bake, melt salted butter in a saucepan over medium heat. Add garlic and sauté for 1-2 minutes until fragrant, then stir in parsley.

Once rolls are out of the oven, brush them generously with the garlic butter and serve warm.