In a small saucepan, heat milk, sugar, salt and butter over low heat until butter melts and sugar dissolves. Cool to lukewarm.
In a large stand mixer bowl, dissolve yeast in warm water.
Add lukewarm milk and 4 1/2 cups of flour. Using a dough hook attachment, mix on low speed for 1 minute.
With mixer running on low, add remaining flour, 1/2 cup at a time, until dough starts to pull away from the sides of the bowl. Allow mixer to knead about 2 minutes longer until smooth and elastic.
Place dough in a well oiled bowl. Cover and let rise 15 minutes in warm spot.
Divide dough into thirds. (Using a kitchen scale ensures that you've divided equally)
Turn one-third of dough onto lightly floured surface. Pat/roll into a 12-inch circle.
Lightly brush the top of the dough with melted butter. Using a pizza cutter, or long knife, cut the dough into 12 triangular slices, like a pizza.
Starting with the wide end, roll up each triangle. Tuck the point under and bend slightly to a crescent shape.
Place on greased cookie sheet, cover and let rise in a slightly warm spot for 15 minutes. Repeat with the other two-thirds of dough.
Bake in a preheated 400 degree oven for 10-12 minutes until golden. Remove from pan and cool on wire rack.
Serve rolls warm, or at room temperature. If freezing, cool completely. Wrap in foil and place in ziploc freezer bag. Allow rolls to thaw to room temperature.