Make the dough: Heat milk to about 95°F (35°C)– use microwave or stovetop. Pour the warm milk into the bowl of a stand electric mixer fitted with the dough hook attachment (OR you can use a handheld mixer OR no mixer, but a stand mixer is ideal). Manually whisk in the sugar and yeast. Cover with a towel and let sit until the yeast is foamy, about 5-10 minutes. If the yeast does not dissolve and foam, start over with active yeast. On low speed, beat in the softened butter until it is slightly broken up. Beat in the eggs, one at a time, and then the salt. The butter won’t really be mixing into the mixture, so don’t be alarmed if it stays in pieces. On low speed, gradually add the flour. Once it is all added, beat on medium speed until a soft dough forms. Increase speed to medium-high and beat until the dough is soft and supple, about 6 minutes longer. *If you do not have a stand-mixer with a hook attachment, knead the dough by hand in this step.