In the bowl of a stand mixer, combine warm milk and sugar. Sprinkle yeast over the mixture and let it stand for 5-10 minutes until it becomes frothy.

Attach the dough hook to the stand mixer. Add melted butter, eggs, and salt to the yeast mixture. Mix roughly, then gradually add flour on low speed until a soft dough forms.

Increase the speed to medium and knead the dough for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for 1-1.5 hours, or until it doubles in size.

In a small bowl, mix softened butter, honey, and chopped rosemary for the filling, and set it aside.

Punch down the risen dough and roll it out into a rectangle on a floured surface. Spread the honey rosemary filling evenly over the dough. Cut the dough into squares or rectangles.

Fold each piece of dough in half or roll it, enclosing the filling, and place them in a greased 9×13-inch baking dish with the folded side down.

Cover the dish with a kitchen towel and let the rolls rise for another 30-45 minutes, or until doubled in size.

Preheat your oven to 375°F (190°C).

Bake for 20-25 minutes or until the rolls are golden brown and cooked through.

In a small saucepan, combine butter, honey, and chopped rosemary to make the glaze. Brush the warm rolls with the glaze as soon as they come out of the oven.

Allow the rolls to cool for about 10 minutes before serving.