Put the yeast, sugar and warm water in your mixing bowl. (Make sure water is heated to the correct temperature for your yeast. For example, my quick-rise yeast says 110- to 115-degrees is best. Use a thermometer to be sure it's not too hot to kill the yeast but it hot enough to activate it.)
Let the yeast mixture set until it is all bubbly and poofy (usually around 6-9 minutes).
Add in the egg, warmed milk and softened butter.
Slowly add in the flour. If the dough is still wet or very sticky after adding 2-1/2 cups, then add in 1/4-cup at a time to equal 1/2-cup more total until the dough is soft and only a bit sticky but not wet.
Mix using a dough hook on your mixer at medium-high speed for about 5 minutes. (I used speed 8 on my stand mixer.)
Add in the salt and mix for about 2 minutes more until the dough is gathering around the hook and pulling away from the sides of the bowl.
Cover the dough and let it rise in a warm place for 30-40 minutes. (I usually cover mine with Glad Press n Seal.)
Once the dough is risen, dump it onto a floured surface and gently knead it for about 2 minutes. Cut it into pieces and roll it into balls. Place the dough balls in a 9x13 pan that has been sprayed with non-stick cooking spray. (If you prefer, you can use a greased muffin tin and place two small dough balls in each muffin cup.)
Let the shaped dough rise again. You can leave it somewhere warm or use your oven by turning it to 200-degrees. Once it is preheated, then turn it off and put in the dough. In the oven, it takes 10-15 minutes to rise. On the counter, it takes a bit longer depending on the temperature in your kitchen.
Bake the rolls at 400-degrees for 12-18 minutes until light golden on top.
Optionally, just before the rolls are due out of the oven, put the 1/2 stick butter or margarine in a bowl. Add the honey and cinnamon on top. Melt in the microwave for 1 minute on 40 percent power. Brush over the top of the rolls when they come out of the oven.