Activate the yeast by combining warm milk, sugar, and yeast in a stand mixer bowl. Let stand for 5-10 minutes until foamy.
Add softened butter, egg, 2 cups flour, and salt to the yeast mixture. Mix until a shaggy dough forms, then add remaining flour gradually until dough pulls away from bowl sides.
Knead with dough hook for 5-7 minutes (or by hand for 8-10 minutes) until smooth and elastic. Shape into a ball and place in a greased bowl for the first rise.
Cover and let rise in a warm place for 60-90 minutes until doubled in size.
While dough rises, prepare garlic butter by melting 6 tablespoons butter and stirring in minced garlic, parsley, garlic powder, and salt.
Punch down dough and divide into 24 equal pieces (about 25-28g each). Roll each piece into a smooth ball.
Grease a 9x5-inch loaf pan. Roll each dough ball in garlic butter mixture until fully coated and arrange in two rows of 12 in the pan.
Cover and let rise again for 30-45 minutes until puffed up. Meanwhile, preheat oven to 375°F (190°C).
Bake on center rack for 25-30 minutes until deep golden brown and hollow sounding when tapped. Tent with foil if browning too quickly.
Cool in pan for 5 minutes before turning out onto a wire rack or serving board. Serve warm.