In a small bowl, combine the warm milk and sugar.
Sprinkle the active dry yeast over the top and let it sit for 5–10 minutes until foamy.
Pro Tip: If the mixture doesn’t foam, your yeast may be old or the milk was too hot. Start over to ensure a good rise.
In a large bowl (or stand mixer bowl), whisk together the eggs, melted butter, and vanilla extract.
Pour in the yeast mixture and stir to combine.
Add the flour and salt, one cup at a time, mixing until a shaggy dough forms.
Switch to a dough hook if using a stand mixer, or knead by hand on a floured surface for 8–10 minutes until smooth and elastic.
Pro Tip: The dough should be slightly tacky but not sticky. Add a tablespoon of flour at a time if it’s too wet.
Place the dough in a greased bowl, cover with a towel or plastic wrap, and let it rise in a warm spot for 1–1.5 hours, or until doubled in size.