In a large bowl, dissolve sugar in warm milk and sprinkle yeast over it. Let sit for 5-10 minutes until foamy.
Stir in flour and salt, then knead until a smooth dough forms (about 8 minutes).
Cover the dough and let it rise in a warm place for about an hour or until doubled in size.
Preheat oven to 375°F (190°C).
Divide the dough into equal portions and shape into rolls. Place on a greased baking sheet.
Mix melted butter, minced garlic, parsley, and black pepper. Brush over the rolls.
Bake for 15-18 minutes or until golden brown.
Optional: Sprinkle with grated parmesan before serving.