Add warmed water, yeast and sugar to a bowl and let sit for 5 minutes.
In a stand mixer, mix together 2 cup flour, yeast mixture, melt butter and salt. Mix milk mixture into flour mixture, and then mix in egg.
Add remaining flour, 1/2 cup at a time, beating well after each addition.
When the dough has pulled together, mix on high for 5 minutes.
Divide dough into 12 equal pieces. Shape into smooth balls, and place on a greased baking sheet. Flatten slightly. Cover, and let rise for 30 to 35 minutes.
Bake at 400 degrees F (200 degrees C) for 10 to 12 minutes, or until golden brown.
For Hot Dog Buns: Shape each piece into a 6×4 inch rectangle. Starting with the longer side, roll up tightly, and pinch edges and ends to seal. Let rise about 20 to 25 minutes. Bake as above. These buns are pretty big. I usually make 16 instead of 12.