In a large mixing bowl, combine the warm milk and 1 teaspoon of granulated sugar. Sprinkle the yeast over the top and let it sit for 5-10 minutes until foamy, indicating the yeast is active.
Add the remaining ¼ cup of granulated sugar, egg, melted butter, and salt to the yeast mixture. Whisk until well combined.
Gradually add the flour, one cup at a time, mixing with a whisk or spoon until a shaggy dough forms.
If using a stand mixer, attach the dough hook and knead on medium-low speed for 6-8 minutes, or until the dough is smooth and elastic. If kneading by hand, turn the dough out onto a lightly floured surface and knead for 8-10 minutes until smooth and elastic.
Place the dough in a lightly greased bowl, turning once to coat. Cover the bowl with plastic wrap and let it rise in a warm place for 1-1.5 hours, or until doubled in size.