Add warm milk, butter, sugar and yeast to a large bowl and stir to combine. Set aside about 5 minutes or until yeast starts to bubble. Add salt and 2 cups of flour. Stir until combined.
Scrape dough out onto a well-floured surface. Knead 3 to 5 minutes or until dough is no longer sticky. Place in greased bowl. Cover and set aside in a warm place for 15 minutes.
Punch dough down and turn dough out onto a floured surface. Divide into 2 sections. Roll each section to about a 10 to 12-inch rectangle.
Use a pizza cutter to cut into 1-inch strips. Cut each strip in half. Roll each strip into a rope shape and loop together and tie in a knot and tuck ends back into the center. Place on a silicone or parchment paper-lined baking sheet about 2 inches apart. Repeat with remaining dough.
Cover and set aside. Preheat oven to 375°F.
Bake rolls for 10-12 minutes or until golden brown.
While the rolls are baking prepare the garlic butter: Add butter to a small skillet or saucepan and place over low heat. Add garlic and rosemary and cook 5 minutes, stirring often.
Brush garlic butter over rolls as soon as they come out of the oven. Sprinkle lightly with Kosher salt. Serve warm or at room temperature.