Add the milk, ⅓ cup of sugar, and ¼ cup of butter to a saucepan and heat over medium heat until the butter just starts to melt and the temperature of the milk hits about 105-110 degrees F.
Turn the speed up to medium high and allow the electric mixer to knead the dough for about 5 minutes until the dough becomes slightly shiny and soft to the touch.
Then grease it with a small amount of spray oil or cooking oil. Place the dough in the bowl, cover it with a tea towel or plastic wrap, and let sit in a warm place for 1 ½ hours or until the dough has doubled in size.