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Put the warm milk into a large bowl and sprinkle over the yeast and a pinch of sugar; let stand for a few minutes, until it gets foamy. Add the remaining sugar, half the flour, and the butter, egg and salt and stir until well combined and sticky. Add the remaining flour and stir until the dough comes together, then knead - by hand or with the dough hook attachment on your stand mixer - for about 5 minutes, or until it’s smooth and elastic. It should be tacky, but not overly sticky.