In a small bowl, add the warm milk, instant yeast, and 1 tablespoon of sugar. Gently mix together. Cover the bowl with plastic wrap and let the yeast activate. The yeast should begin to foam after about 5-10 minutes.
Add the yeast mixture, egg, butter, salt, the remaining sugar, and 1 ½ cups of flour to the bowl of your stand mixer. Using a dough hook, mix the ingredients together. Add the remaining flour until the mixture begins to pull away from the sides of the bowl and come together in a ball. Continue to use the kneading attachment for about 5 minutes.
Gently transfer the dough to a lightly greased bowl. Cover the bowl with a clean towel or plastic wrap. Let it rise in a warm spot until the dough has doubled in size, approximately one hour.