In a large bowl, combine the flour, yeast, sugar, and salt.
Add the warm milk and softened butter, and mix until a dough forms.
Knead the dough on a floured surface for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover, and let rise in a warm place until doubled in size, about 1 hour.
Preheat the oven to 375°F (190°C).
Punch down the dough and divide it into 12 equal pieces. Shape each piece into a ball and place in a greased baking dish.
Allow the rolls to rise again for about 20 minutes until puffy.
Mix minced garlic and chopped parsley together and brush over the rolls.
Beat the egg and brush it over the tops of the rolls for a shiny finish.
Bake in the preheated oven for 20 minutes or until golden brown.