In a large bowl, combine active dry yeast and warm water (about 110 degrees) and stir to make sure the yeast is in the water.  Allow to sit for 10 minutes, until the yeast gets creamy.

Add flour, sugar, and salt, then stir.  Add in milk and butter and stir until all dry ingredients are moist.  Turn out dough onto a lightly floured surface, and knead for 5 minutes, until dough is smooth and elastic.  Cover and let rest for 10 minutes.

Grease an 8-inch round pan, and divide dough into 12 pieces and shape them into balls.   Place dough balls into the greased pan, cover, and let rise until doubled in size.  If you set them in a warm place, they'll rise in about half an hour.  At room temperature, it may take closer to 1 hour. 

10 minutes before the dough is done rising, preheat oven to 375 degrees. Bake rolls in preheated oven for 20 minutes, or until brown on top.  

You can brush the top of the rolls with melted butter out of the oven, and sprinkle a little salt on top for extra deliciousness!