In a small bowl, dissolve the yeast in warm water and let it sit until bubbly, about 5 minutes.
In a large mixing bowl, combine warm milk, melted butter, sugar, and salt. Stir in the yeast mixture and beaten egg.
Gradually add flour, one cup at a time, mixing well after each addition. Knead until smooth and elastic, about 8-10 minutes.
Place dough in a greased bowl, cover with plastic wrap, and let rise in a warm place until doubled, about 1 hour.
Punch down dough and divide into two portions. Roll each into a circle and cut into triangles. Roll up each triangle from the wide end to form crescents.
Place rolls on a greased baking sheet, cover, and let rise until doubled, about 30 minutes.
Preheat oven to 375°F. Bake rolls for 12-15 minutes or until golden brown.
Notes
Brush warm rolls with melted butter for extra flavor and softness.