Warm the milk in the microwave for 90 seconds. Make sure is just warm and not hot or it will kill the yeast.
In a large mixing bowl add the milk, sugar, and yeast. Let it sit for 5 minutes, it will be a bit foamy on top.
Add melted butter, salt, and flour to the yeast mixture. Using a spoon, or a stand-up mixer with the dough hook or paddle attachment mix to incorporate for about 3-4 minutes.
If needed, add 1/3 of flour at a time, until the mixture pulls away from the sides of the bowl. The dough should be slightly sticky.
Turn the dough out onto a lightly floured surface and knead for 3-4 minutes, until you have a smooth ball of dough.
Place the dough back inside the large mixing bowl, cover it with a towel and let it rise in a warm place for 20 minutes. I place my bowl inside the oven with the light on. The dough will double the size.