Heat the milk. Sprinkle the yeast over the milk and let sit for a minute, until its all moist.
In the bowl of a stand mixer, fitted with the dough hook, add the milk, yeast, eggs, butter, flour, salt and sugar.
Mix until a ball of dough forms. Continue to knead for another 5 minutes.
Place the dough in a lightly greased bowl and let rise until doubled in size.
After the dough has doubled in size turn it out onto a lightly floured surface, cover and let rest for 10 minutes.