In a small bowl, dissolve the sugar in the warm water. Add the yeast and let it sit for 5 minutes or until it gets foamy at the top. Set aside.
Melt the 1/3 cup of butter (I use the microwave in 30 second increments). Add the milk, sugar and salt to the melted butter. Stir to combine. Add the yeast mixture and stir again to combine.
Transfer the wet mixture to a large bowl, then add the flour, 1/2 cup at a time, stirring every time until just combined (don't overmix). Once you added all the flour or that the dough is thick and shaggy, transfer the dough to a clean, floured surface. With oiled hands, knead the dough for 3-4 minutes or until the dough looks smooth. Add more flour if needed, but avoid using too much or the dough will get dry.
Rinse and clean the same bowl. Coat it with a little bit of oil. Transfer the dough to the bowl and cover it tightly with plastic wrap or a reusable bowl cover. Let it rise in a warm place for 1 hour (you can place it in the oven with the light turned on).