1. Combine warm milk and sugar in a bowl, sprinkle yeast on top, and let sit for 5 to 7 minutes until foamy.

2. In a large bowl or stand mixer, mix flour and salt, then add the yeast mixture, softened butter, and egg if using until a sticky dough forms.

3. Stir in minced garlic, parsley, and rosemary until evenly distributed throughout the dough.

4. Knead the dough by hand for 8 to 10 minutes or with a stand mixer for 5 to 6 minutes until smooth and elastic.

5. Place the dough in a lightly oiled bowl, cover with a damp cloth, and let rise in a warm spot for 1 to 1 1/2 hours until doubled in size.

6. Punch down the dough and divide it into 12 equal pieces, shaping each into a smooth ball.

7. Arrange the rolls on a greased baking tray, cover, and let rise for 30 to 45 minutes until puffy.

8. While rolls rise, melt extra butter with a pinch of garlic and herbs to make the glaze.

9. Preheat the oven to 375°F (190°C) and brush the rolls with half the garlic herb butter.

10. Bake for 18 to 20 minutes until golden brown and aromatic.

11. Immediately brush baked rolls with remaining garlic herb butter before serving.