In a small bowl, whisk together warm milk, yeast, and 1 teaspoon sugar. Let stand 5 minutes until foamy. If it doesn't foam, your yeast is dead - start over with fresh yeast.

In a large bowl or stand mixer, combine the yeast mixture, remaining sugar, melted butter, and beaten egg. Add flour and salt. Mix on low speed until a shaggy dough forms, then knead on medium speed for 6-8 minutes until smooth and elastic. The dough should clear the sides of the bowl but stick slightly to the bottom.

Transfer dough to a lightly oiled bowl, turning to coat. Cover with plastic wrap and let rise in a warm spot until doubled, about 60-75 minutes. Press gently - it should hold a slight indentation.

Punch down dough and turn onto a lightly floured surface. Divide into 12 equal pieces (about 2 ounces each). Cover loosely and let rest 10 minutes so the gluten relaxes.

Divide each piece into 3 equal portions. Roll each into a smooth ball, dipping your palms in flour if sticky. Place 3 balls into each greased muffin cup, spacing slightly apart so they touch only at the base.

Cover the muffin tin loosely with plastic wrap and let rise until puffy and the balls have expanded to fill the cups, about 30-40 minutes. Preheat oven to 375°F.

Brush the risen rolls gently with melted butter. Bake 18-20 minutes until deep golden brown on top and the internal temperature reaches 190°F. The bottoms should sound hollow when tapped.

Remove from oven and brush immediately with more butter. Let cool in the pan 5 minutes, then turn out onto a wire rack. Serve warm, pulling apart the three petals.