In a large bowl, with a wooden spoon or in a stand mixer using the dough hook, combine flour, sugar, yeast and salt. Add milk mixture and stir until dough forms into a ball, about 3 minutes. On a floured work surface, knead dough for 2 minutes or until smooth. Place in a lightly oiled bowl. Cover with a damp cloth and let rise for 1 hour in a warm and humid place.