In a large mixing bowl, combine the flour, instant yeast, sugar, and salt.
Add the melted butter and warm milk to the dry ingredients and mix until a soft dough forms.
Knead the dough on a lightly floured surface for about 10 minutes until it is smooth and elastic.
Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place for 1 hour or until doubled in size.
Punch down the dough and divide it into 12 equal pieces. Shape each piece into a ball and then roll it out into a rope, tying each rope into a knot.
Place the knots on a baking sheet lined with parchment paper, cover them with a damp cloth, and let them rise again for 30 minutes.
Preheat the oven to 375°F (190°C).
Brush the top of each roll with beaten egg and sprinkle sesame seeds over them.
Bake for 20-25 minutes or until golden brown.