In the bowl of a stand mixer, combine the warm milk, half of the sugar, and active dry yeast. Let stand for 10 minutes until foamy.
Add half of the flour and mix until combined. Attach the dough hook. Add the remaining flour, sugar, and salt. Mix until the flour is absorbed.
Add the softened butter in small pieces, mixing until incorporated. Knead on medium speed for 8–10 minutes, until the dough is smooth and elastic.
Shape dough into a smooth ball and transfer to a lightly greased bowl. Cover with plastic wrap and let rise for 60–90 minutes, or until doubled in size.
Lightly flour your work surface. Divide the dough into 15 equal portions (about 60g each). Gently shape each portion into a smooth, firm ball by tucking the edges underneath and rolling it against the work surface.
Arrange in a greased 9 × 13-inch baking dish in three rows of five.
Cover with a clean kitchen towel and let rise for 60–90 minutes, or until puffy and almost doubled in size.
Preheat the oven to 375°F (190°C). Mix the milk and maple syrup together and lightly brush over the rolls.
Bake in the lower rack of the oven for approximately 25 minutes, until the tops are golden brown and the rolls are baked through.
Remove from the oven and immediately brush the tops with melted butter. Let cool slightly before serving.
Once completely cooled, store the rolls in an airtight container at room temperature for 3-4 days.