In a small bowl, mix the warm plant-based milk with the granulated sugar and yeast. Let it sit for 5-10 minutes until frothy.
In a large bowl, combine the flour and salt.
Add the yeast mixture, melted dairy-free butter, and vanilla extract to the dry ingredients. Mix until a soft dough forms.
Turn the dough out onto a floured surface and knead for about 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place for about 1-2 hours, or until doubled in size.