In a measuring cup or small bowl, combine lukewarm milk with sugar and yeast. Allow to stand for 5-10 minutes or until the yeast gets very foamy. If this does not happen, then try again with cooler temperature milk or replace your yeast.
In a large bowl combine all purpose flour with milk powder and salt. Make a well in the center and add the milk/yeast mixture. Mix together well until it forms a very soft, sticky dough.
Knead well for 5 minutes, using your scraper to scoop up the dough mass and slam it down onto itself. The dough should be very sticky and barely kneadable, but it will become less sticky within a few minutes. if it is not very sticky, add more milk to make it so.
After about 5 minutes of kneading, add the soft butter. Knead another 3-5 minutes or until the dough comes together and is much less sticky. This can take a total of 15 minutes, so be patient. You can also do this in a stand mixer with the dough hook attachment.
Once the dough has come together, place it in a lightly oiled bowl and cover with plastic wrap. Allow to rise for 1-2 hours or until the dough has doubled in size. (This time can vary depending on the temperature of your house.)
Preheat oven to 350℉/177℃. Generously grease an 8 inch square pan. You can also line the bottom with parchment paper.
Punch down dough and portion into 9 equal pieces. Roll each piece of dough into a tight ball, cupping your hand and rolling it on the table to create surface tension. Space each dough ball equally in the pan. Cover with plastic and allow to rise another 30-60 minutes or until doubled.
Brush tops of dough balls with milk. This will help them brown nicely as they bake. Bake 20-22 minutes or until the tops are lightly golden. Brush rolls with butter as soon as they come out of the oven. Allow to rest in the pan for 10 minutes before removing and serving.