Combine the warm milk, 1 tsp sugar, and yeast in a large bowl and let it bloom for 5 to 10 minutes until foamy. Whisk in the remaining sugar, ¼ cup melted butter, egg, and salt, then stir in the 3½ cups flour until a shaggy dough forms.

Turn the dough onto a lightly floured surface and knead for 8 to 10 minutes until smooth and elastic, adding flour one tablespoon at a time only if it sticks badly.

Place the dough in a greased bowl, cover, and let it rise in a warm spot for 1 hour until doubled.

Punch the dough down, divide into 15 pieces (about 55 grams each), roll each into a smooth ball, and place in a greased or lined 9x13-inch pan. Cover and let rise for 30 more minutes until puffed and touching.

Bake at 350°F (175°C) for 18 to 20 minutes until the tops are light golden and the internal temperature reaches 190°F (88°C).

Stir together the 2 tbsp melted butter, 1 tbsp honey, and ¼ tsp cinnamon, brush over the hot rolls, and serve straight from the pan.