In a bowl, combine warm milk and sugar; sprinkle yeast on top and let it sit for 5-10 minutes until foamy.
Add melted butter and salt to the yeast mixture.
Gradually stir in flour until a soft dough forms.
Knead the dough on a floured surface for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover, and let it rise in a warm place for 30 minutes.
Punch down the dough and roll it out to about 1/2 inch thick.
Use a round cutter to cut out muffins and place them on a cornmeal-dusted baking sheet.
Cover and let rise for another 20 minutes.
Heat a skillet over medium-low heat and cook muffins for about 7 minutes on each side, until golden brown.
Cool on a wire rack before slicing and serving.