Combine together milk, sugar and yeast in a bowl. Cover and set aside for 10-15 minutes or until frothy.
Stir the mixture again.
Sift in flour and salt.
Using a wooden spoon, bring the ingredients together to form sticky dough.
Add butter. Using your hands, knead the dough until smooth and elastic, for about 6-8 minutes.
Cover and let rest for 1 and ½ to 2 hours or until the dough is doubled in size.
Punch down. Turn the dough on to a lightly floured surface. Knead for 2 minutes.
Divide dough into 6 or 9 equal portions.
Shape them into balls and place in a greased 8-inch square or round cake pan.
Cover and let it rise for about 30 minutes or until doubled in size.
Preheat oven to 190 C or 375 F.
Brush the rolls with milk. Sprinkle with sesame seeds if you like.
Bake for about 25-30 minutes or until golden brown on top.
Brush with melted butter.
Serve warm.