In a large mixing bowl, pour the warm milk and sprinkle the yeast over it. Let it sit for 10 minutes to proof.
To the milk and yeast mixture, add the eggs, melted unsalted butter, and white sugar. Whisk until smooth.
Add the all-purpose flour and salt to the wet ingredients. Use a stand mixer with a hook attachment or a wooden spoon to bring the dough together. Beat for about 6 minutes until soft, smooth, and elastic. Adjust with flour or milk if needed.
Transfer the dough to a greased bowl, cover it, and let it rest in a warm place until doubled in size, about an hour.