In a large bowl, mix warm milk, sugar, and yeast. Let it sit for 5 minutes until bubbly.
In a separate bowl, whisk together flour and salt.
Add melted butter and eggs to the yeast mixture, mixing until combined.
Gradually add the flour mixture to the wet ingredients, stirring until a dough forms.
Knead the dough on a floured surface for about 8-10 minutes until smooth.
Place the dough in a greased bowl, cover with a cloth, and let it rise for 1 hour.
Preheat your oven to 375°F (190°C).
Punch down the risen dough and divide it into 12 equal pieces.
Shape each piece into a ball and place them on a baking sheet lined with parchment paper.
Cover and let them rise for another 30 minutes, then sprinkle sesame seeds if desired.
Bake for 20-25 minutes until golden brown. Let cool before serving.