Combine warm milk and sugar in a bowl, sprinkle yeast on top, and let sit for 10 minutes until frothy.

Whisk flour and salt in a large bowl, then stir in the yeast mixture and melted butter until a shaggy dough forms.

Knead the dough on a floured surface for 10 minutes until smooth and elastic.

Place dough in an oiled bowl, cover, and let rise for 1 hour until doubled in size.

Punch down the dough, divide into 8 equal pieces, and shape into smooth balls.

Place rolls on a parchment-lined baking sheet, cover, and let rise for 30 minutes.

Preheat oven to 375°F and bake rolls for 15-18 minutes until golden brown.

Melt butter in a saucepan, add garlic and cook for 1 minute, then stir in parsley and salt.

Brush the hot rolls with the prepared garlic butter immediately and serve.