Combine yeast and 1 tsp. sugar in small bowl. Add warmed water, stir until yeast is dissolved and let it sit until it begins to form bubbles.
In large bowl or bowl of a stand mixer, combine ½ c. softened butter, remaining sugar and salt.
Using stir setting on mixer or using a wooden spoon, add yeast mixture, warmed milk and beaten eggs.
Slowly add in 2 cups of flour; stir 2 minutes or until smooth. Add in remaining 2 and ½ cups of flour, 1 cup a time until a soft dough is formed. The dough will be slightly sticky; add additional ½ cup of flour if dough is sticking too much to sides of bowl and spoon/mixer attachment.
Sprinkle surface of counter with flour and flour hands. Turn out dough onto floured surface, and knead only slightly (fold dough only 3-4 times), enough to form a ball of dough.
Place in a greased bowl, cover and place in a warm (but not hot) area. Allow to rise until double in size, about 1 hour. If risen dough is pressed down, the indentation should hold its shape.
Split dough into 2 even portions. Divide each portion into 36 pieces and shape each piece into a smooth ball of dough.
Heavily grease muffin tins. Place 3 balls of dough in each muffin tin.
Cover muffin tins and allow rolls to rise to double in size, about 1 hour.
Preheat oven to 375°F. Bake rolls 12-14 minutes, or until lightly golden brown.
Brush hot rolls with any remaining butter that has been melted. Run a knife around the edges of each roll and turn out all rolls from the muffin tins. Serve warm.