In a sizable mixing bowl, mix the sugar and yeast into the lukewarm water until fully dissolved. Allow it to rest for 5-10 minutes until it becomes foamy.
Add the warm milk, egg, and salt. Mix well.
Gradually add the flour, mixing until the dough comes together and is soft but not sticky. You might need a little more or less flour, so go by feel.
Work the dough on a floured surface for approximately 5-7 minutes, incorporating the flour until it forms a smooth texture.
Transfer the dough into a greased bowl, then cover it with a cloth and leave it in a warm spot to rise until it has doubled in size, which should take roughly 1 hour.