In a large mixing bowl, combine warm water and milk. Sprinkle yeast on top and whisk.
Add sugar, flour, and salt to the bowl.
Using a stand mixer with a hook attachment, mix until the dough forms, then knead for 1 minute until soft and elastic.
Transfer the dough to a buttered bowl, cover with plastic wrap and a towel, and let it rise in a warm place for about 1 hour until doubled in size.