Heat the milk to 105-110°F. Bloom the yeast by mixing the yeast, sugar, and lukewarm milk together. Let it sit for 10 minutes until foamy.
In a stand mixer, mix the flour, salt, and sugar.
Add the eggs, softened butter, and vanilla. Mix until combined.
Add the milk and yeast mixture and blend until everything is well mixed. Switch to a dough hook and knead for 5-7 minutes on medium speed until the dough pulls away from the sides and forms a smooth, slightly sticky ball.
Form the dough into a ball, place it in a greased bowl, cover with plastic wrap, and let it rise in a warm place for 1 ½ to 2 hours until doubled in size.