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In the bowl of your mixer, whisk together warm milk (about 110F) and 1 Tbsp sugar. Sprinkle the top with 1 Tbsp yeast and let sit 1 minute. Whisk together and let it sit for about 5 minutes until yeast looks foamy. Add 4 Tbsp melted butter, remaining sugar and salt.
Add flour half a cup at a time until the dough whisking to incorporate. Once the dough gets too thick, switch to the dough hook attachment and mix on speed 2 (you can also continue mixing by hand with a stiff spatula). Add about 4 cups of flour, adding the last 1 to 3 Tbsp of flour only if needed. The dough should feel sticky and tacky but should not stick to clean/dry finger tips.
Knead the dough with the dough hook in a stand mixer for 2 minutes or knead by hand (10 min), then place dough in an oiled bowl. Cover it with plastic wrap and let it rise about 2 hours in a warm place or until doubled in size.
Once the dough rises, turn it out onto a lightly floured surface and cut it into 15-24 even pieces depending on the shape of your baking dish. Roll each piece of dough into a ball and place them onto an oiled 9x13 casserole dish or baking sheet.
Cover the dinner rolls with plastic wrap and let them rise another 30-60 minutes in a warm place or until puffed (do not over-proof). Bake at 375F for about 23-25 minutes or until the tops are golden brown.
Immediately brush tops of dinner rolls with melted butter and set aside to cool to room temperature before serving.