In a mixing bowl, combine warm water or milk, sugar, and yeast. Let sit for 5–10 minutes until foamy.
- Add flour and salt. Mix until a dough forms, then knead for 8–10 minutes until smooth and elastic.
- Cover dough and let rise in a warm place until doubled, about 1 hour.
- Meanwhile, mix softened butter, minced garlic, herbs, and Parmesan (if using) to make the garlic filling.
- Roll out risen dough into a large rectangle, about 1/4-inch thick.
- Spread garlic butter filling evenly over the dough.
- Roll dough tightly from the long edge into a log and slice into 12 even pieces.
- Place rolls into a greased baking dish or muffin tin. Cover and let rise 20–30 minutes.
- Preheat oven to 375°F (190°C).
- Bake for 18–22 minutes, until golden brown.
- Brush with olive oil or melted butter after baking. Serve warm.