Begin by mixing the warm water, sugar, and yeast in a small bowl. Let it sit for about 5-10 minutes until it becomes frothy.
In a large mixing bowl, whisk together the flour and salt to ensure even distribution.
In a separate bowl, combine the milk and melted butter or margarine. Let this cool slightly if it’s hot.
Pour the yeast mixture into the dry ingredients along with the milk mixture. Stir with a wooden spoon until a shaggy dough begins to form.
Turn the dough out onto a floured surface and knead for about 8-10 minutes until smooth and elastic, or knead with a stand mixer dough hook on low speed for 5-7 minutes.
Place the dough in a lightly greased bowl, cover with plastic wrap or kitchen towel, and let it rise in a warm place until doubled in size, about 1 to 1.5 hours.
Punch down the dough to release the air.
Shape the dough as desired and place onto a prepared baking sheet or pizza stone. Cover and let it rise again for 30-45 minutes.
Preheat oven as per your recipe and bake dough until golden brown and cooked through, typically 20-30 minutes.