Warm the milk: Heat 1 cup of milk until it’s warm to the touch, about 105–110°F. It should feel like a warm bath, not hot.
Activate the yeast: In a large bowl, whisk the warm milk with 2 1/4 teaspoons active dry yeast and 2 tablespoons sugar.
Let it sit for 5–10 minutes until foamy. If it doesn’t foam, your yeast may be expired or the milk was too hot or too cold.
Add wet ingredients: Melt 3 tablespoons butter and let it cool slightly. Whisk the melted butter and 1 large egg into the foamy yeast mixture.
Bring it together: In a separate bowl, mix 3 1/2 cups all-purpose flour with 1 1/2 teaspoons kosher salt.
Add the dry ingredients to the wet mixture, one cup at a time, stirring with a wooden spoon until a shaggy dough forms.
Knead: Turn the dough onto a lightly floured surface and knead for 6–8 minutes, until smooth and slightly tacky but not sticky. If needed, add up to 1/4 cup more flour, 1 tablespoon at a time.
First rise: Lightly oil a large bowl. Place the dough inside, turning once to coat.
Cover with a damp towel or plastic wrap and let rise in a warm place for 60–75 minutes, until doubled in size.
Shape the rolls: Punch down the dough gently. Roll it out on a lightly floured surface into a rectangle about 1/2 inch thick. Using a knife or bench scraper, cut into 16 even squares or rectangles.
For that Texas Roadhouse look, keep them slightly rectangular.
Second rise: Arrange the pieces on a parchment-lined baking sheet, leaving a little space between them. Cover and let rise again for 25–35 minutes, until puffy and soft.
Preheat and butter the tops: Heat the oven to 350°F. Gently brush the tops with 1 tablespoon melted butter for color and flavor.
Bake: Bake for 12–16 minutes, until lightly golden on top.
They should look pale-golden, not deeply browned, to stay soft inside.
Finish with butter: While hot, brush with another tablespoon of melted butter. This keeps the tops tender and shiny.
Make the cinnamon honey butter: With a hand mixer, beat 1/2 cup softened butter until fluffy. Add 2 tablespoons honey, 2 tablespoons powdered sugar, 1/2–1 teaspoon cinnamon (to taste), a small pinch of salt, and 1/4 teaspoon vanilla if using.
Whip until light and creamy.
Serve: Split a warm roll and spread with the cinnamon honey butter. Try not to eat three in a row—no promises.