Combine the warm milk, melted butter, yeast, sugar, and salt in a mixing bowl. You can either mix by hand or use a stand mixer.
Mix in 4 cups of the flour. If needed, add more flour 1-2 tablespoons at a time, until the dough begins to pull away from the sides of the mixing bowl. The dough should be soft and slightly sticky, but leave no residue on your finger. Wet dough will need more flour added.
Knead the dough for about 3 minutes, by hand or using the dough hook on your stand mixer.
Transfer the dough to a large, lightly greased bowl. Cover with a clean towel and let the dough rise for 90 minutes.
Grease a 9x13 glass dish.
Punch the dough down to let the air out, and form into 20-24 equally (or equal-ish) sized balls. Arrange the dough balls to your baking dish (I can typically fit 5 rows of 4 rolls.)
Cover with a towel and let rise for 1 hour.
Preheat oven to 350°F and bake for 22-25 minutes, or until golden brown on top. Optional: Brush with melted vegan butter. Let rolls cool for about 10 minutes before serving warm.