Dissolve yeast in warm milk and let it sit for 5 minutes until frothy.
In a mixing bowl, combine flour, sugar, and salt.
Make a well in the center and add melted butter, eggs, and vanilla.
Pour the yeast mixture into the well and mix until a dough forms.
Knead the dough on a floured surface for about 10 minutes until smooth.
Place the dough in a greased bowl, cover, and let it rise for 1 hour.
Punch down the dough, shape it, and place it on a baking sheet.
Let it rise again for 30 minutes before baking.
Bake at 350°F (175°C) for 30-35 minutes until golden brown.
Cool before slicing and enjoy!