In a large bowl, combine the flour, sugar, yeast, and salt.
Add the warm milk and melted butter to the dry ingredients, mixing until a dough forms.
Knead the dough on a floured surface for about 5 minutes until smooth and elastic.
Place the dough in a greased bowl, cover, and let it rise in a warm place for about 1 hour or until doubled in size.
Preheat your oven to 375°F (190°C).
Roll out the dough into a rectangle about 1/4 inch thick.
Spread the softened butter over the dough, then sprinkle with minced garlic, mozzarella, Parmesan, and parsley.
Starting from the long side, roll the dough tightly into a log and pinch the seam to seal.
Cut the log into 12 equal pieces and place them in a greased baking dish, cut side up.
Bake for 20-25 minutes or until the rolls are golden brown and the cheese is bubbly.
Allow to cool slightly before serving.
