In a small saucepan, heat milk on medium until it is lukewarm or 110°F (43°C.)
In a large bowl, mix all the ingredients together with the handle of a spoon until a shaggy dough forms. Knead on a clean work surface until dough is elastic and stretches easily without tearing. This can take 8 - 12 minutes.
Cover with plastic wrap or a damp cloth and let rest until double. This step typically takes 60 - 120 minutes.
Roll dough into a 15" (38cm) circle. Brush the top of the dough with melted butter. Allow the dough to sit uncovered for 5 minutes. Cut the circle into 8 wedges. Roll up each wedge from the wide end to the point. Curve the ends to form crescents. Place on a greased or nonstick baking tray several inches apart. Cover and let rise until doubled, about 30 - 60 minutes.
Preheat oven to 350°F (180°C.) Remove the cover after they have risen and place the rolls in the oven.
Bake 18 - 22 minutes or until golden brown. Center temperature should reach 190°F (88°C) when done. Remove rolls to a wire rack in order to cool. Cool completely before storing in an airtight container.
Notes
You can also use the microwave to heat the milk. Heat on high power 30 - 60 seconds or until lukewarm.An important note on dry yeast: Instant dry yeast is used in this recipe, which can be mixed directly into the dry ingredients or dissolved in water before mixing. If you're using active dry yeast, modern varieties generally don't need to be dissolved in warm water first, although some manufacturers still recommend it. Rapid-rise yeast may affect rising times.Always check the manufacturer's instructions on your yeast package for the best results.