In a large bowl, mix milk with sugar, soft butter and yeast. Set aside for 15 minutes.
Add egg and salt, mix with sifted flour. Knead the dough for 10-15 minutes until smooth and elastic. If needed, add a little more flour.
Cover with a cloth folded several times and set aside to rise for 1 1/2 hours. Grease the pans with melted butter.
Punch down the dough, divide into 2 parts. Divide one part into 2 equal halves. Roll each by hand forming rolls 35 cm long. Cut the rolls into 18 pieces and form them into small balls. Place 3 small balls into each muffin pan indentation. Put the second part of the dough in the refrigerator and repeat the rising and baking, unless you have a second muffin pan.
Preheat the oven to 180°C. Brush the rolls with melted butter. Bake for about 20 minutes until golden.