In the bowl of a stand-mixer fitted with a dough hook, add the yeast and a teaspoon of sugar. Heat the milk until warm, and add the milk to the bowl. If making by hand, add the milk, yeast and sugar to a small bowl. Allow the yeast to become foamy and bubbly, about 5-8 minutes.
Add the beaten eggs, melted and cooled butter, sugar and salt to the milk and yeast. Turn mixer to stir and slowly add the flour to the liquid until all of it is incorporated. If making by hand, add the flour to a large bowl, make a well, then add the milk mixture and the remaining ingredients and combine until everything is incorporated.
Once the flour is incorporated, turn the mixer to medium and allow the dough to form into a silky smooth and soft ball, about 8-10 minutes. The dough will be sticky, but the longer it is worked the smoother it will get, and it will stop sticking to the sides of the bowl or to your hands when you touch it. By hand, knead the dough until very smooth, soft and no longer sticking to your hands.
Gently transfer the dough into a large lightly oiled bowl and cover with a damp clean kitchen towel. Allow the dough to rise for 1-1 1/2 hours, or until the dough has doubled in size.