In a large bowl, whisk together warm milk, yeast, and ½ tsp sugar.
Let it rest until fluffy for 5-7 minutes.
In another large bowl (preferably of a stand mixer), combine flour, the remaining sugar, salt, eggs, butter, vanilla, and the activated yeast mixture. Mix well for about 3-4 minutes.
Cover with a cloth or plastic wrap and let it rest at room temperature for 4-5 minutes.
Knead the dough with a stand mixer for 10-15 minutes until it no longer sticks to the edge of the bowl and is perfectly smooth.
Transfer to a large bowl, cover with plastic wrap, and let sit for 30-45 minutes until almost doubled in size. Then refrigerate for 1 ½ hours.