Activate the Yeast: Begin by whisking the warmed milk together with the instant yeast and half of the sugar (1 tablespoon) in the bowl of your stand mixer or a large mixing bowl. Cover this mixture and let it rest for about 5 minutes, allowing the yeast to become bubbly and active.
Combine Ingredients and Start Mixing: Add the remaining sugar, egg, softened butter, salt, and one cup of flour to the yeast mixture. Using the dough hook attachment on low speed (or a sturdy wooden spoon if mixing by hand), mix just until the ingredients begin to come together. Scrape down the sides of the bowl with a silicone spatula to ensure everything is well incorporated.
Incorporate Remaining Flour and Knead: Gradually add the remaining flour while mixing on medium speed until the dough pulls away from the bowl and forms a slightly sticky but workable ball. If the dough feels too wet and sticky to knead, sprinkle in a tablespoon of flour at a time until manageable. Continue kneading with the stand mixer for about 5 minutes or transfer the dough to a floured surface and knead by hand until smooth and elastic. The dough should remain soft but springy when pressed.
First Rise and Dough Proofing: Lightly oil a large bowl and place your kneaded dough inside, turning it to coat all sides with oil. Cover the bowl with plastic wrap or a clean kitchen towel and set it in a warm place to rise until doubled in size, about 1.5 to 2 hours depending on room temperature.
Shape the Rolls: After the dough has risen, gently deflate it by pressing down. Divide it into roughly 14 to 16 equal portions using your hands or a bench scraper. Shape each piece into a smooth ball and arrange them in a greased 9×13-inch baking dish or equivalent pan, leaving a little space between them.
Second Rise for Fluffiness: Cover the shaped rolls with a clean towel or plastic wrap again and allow them to rise for about 1 hour, until puffy and nearly doubled. Meanwhile, preheat your oven to 350°F (177°C) and adjust your oven rack to a lower position to prevent the tops from browning too quickly.
Bake and Add Finishing Touch: Bake the rolls for approximately 20 to 25 minutes, rotating the pan halfway through to ensure even browning. If the tops begin to darken too fast, tent loosely with foil. Once golden and cooked through, remove the rolls from the oven and brush immediately with the optional honey butter mixture to add a glossy, flavorful finish. Let the rolls cool slightly before serving.