Preheat your oven to 375°F (190°C) and lightly grease a baking sheet or oven-safe dish.
Sprinkle the yeast over the warm milk and let it sit for 5–10 minutes until frothy.
In a large mixing bowl, whisk together the sifted flour and salt.
In a separate bowl, cream the softened butter, sugar, and egg until smooth.
Add the milk-yeast mixture and vanilla extract to the butter-sugar-egg mixture, stirring until well combined.
Gradually add the dry ingredients to the wet ingredients, stirring until a soft dough forms.
Knead the dough on a lightly floured surface for about 5–7 minutes, until smooth and elastic.
Place the dough in a lightly greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for 1 hour or until doubled in size.
Once risen, punch down the dough and divide it into 12 equal portions. Shape each into a ball and place them on the prepared baking sheet, spaced about 2 inches apart.
Cover the rolls again and let them rise for another 30–45 minutes, or until puffy.
Bake for 18–22 minutes, or until golden brown and sounds hollow when tapped.
Allow the rolls to cool slightly before serving.