Nothing smells better than bread baking in the oven, the aroma is unmistakable and irresistible! But baking bread needs planning, it just isn't something you can do on the spur of the moment...until now! And here's a little secret that always works for me...Your dough will rise faster if you place it on a heating pad (low-medium setting). It's another time saver, and really works great!
In a small saucepan, stir milk, sugar, and 2 Tbsp.. butter together. Heat on low, just until butter melts and sugar dissolves. Cool to about 100F-105F. Pour milk mixture into the bowl of a stand mixer. Add the yeast and warm water. Let stand for 5-10 minutes or until yeast is foamy.
Add 2 cups flour and salt to yeast mixture. Using a dough hook, mix on low speed for about 1 minute.
With the mixer still going, add remaining flour, 1/2 cup at a time. Mix about 1 1/2 minutes, or until dough starts to clean the sides of the bowl. Knead on low speed for about 2 more minutes, or until dough is smooth and elastic - the dough will still be slightly sticky to the touch.
Place dough in greased bowl, turning it to grease the top. Cover the dough with a clean dish towel. Let it rise in a warm place, free from draft, for about 15 minutes.
Turn the dough onto a lightly floured surface, and divide into 12 equal pieces. Form each piece into a ball and cut each ball into thirds. Place 3 dough balls in each muffin cup. Cover the muffin pan with the dish towel, and let the dough rise for about 15 minutes. Melt remaining 2 Tsp. butter. Set aside.
Bake at 425'F for 9-12 minutes, or until the rolls are golden brown. Brush rolls with melted butter. Remove from pans, and cool slightly on wire racks before serving.