Heat milk to 110 degrees and pour into measuring cup
Add yeast, sugar, and salt to the warm milk and mix together
Let sit for 10 minutes until yeast blooms
Pour yeast mixture into mixer and add flour
Mix until dough forms
Add butter and mix until fully incorporated
Place dough in an oiled bowl and toss to coat
Cover and let rise for 1 hour or until doubled in size
Turn dough onto clean surface and shape into a rectangle
Roll up the dough tightly and pinch edges
Place seam-side down into an oiled 9x5 loaf pan
Cover and let rise until doubled and slightly over the top of pan (about 45 minutes)
Bake at 350 degrees for 30 minutes
Remove from pan and let cool on a cooling rack for 1-1.5 hours before slicing
