In a bowl, mix warm milk, yeast, and 1 tablespoon of sugar. Let it sit for 5-10 minutes until foamy. If it doesn’t foam, your yeast is inactive, and you’ll need to start over with fresh yeast.
In a large bowl, combine flour, remaining sugar, and salt. Add the egg, melted butter, and yeast mixture. Mix until a dough forms.
Turn the dough onto a floured surface and knead for 8-10 minutes until smooth. If using a stand mixer, knead with the dough hook on low speed for 5-6 minutes.
Place the dough in a greased bowl, cover, and let it rise in a warm place for 1-1.5 hours, or until doubled in size.
Punch down the dough and roll it out to ½-inch thickness. Cut into square or rectangle shapes (Texas Roadhouse rolls are not round!).
Place the rolls on a baking sheet, cover, and let them rise again for 30-45 minutes.
Preheat your oven to 350°F (175°C). Bake for 12-15 minutes or until golden brown.
As soon as the rolls come out of the oven, brush them with melted butter.