Activate the yeast by mixing it with warm milk and a teaspoon of sugar; let sit until foamy.
Combine flour, sugar, and salt in a large mixing bowl.
Add melted butter, eggs, and vanilla to the dry ingredients.
Pour in the activated yeast mixture and mix to form a dough.
Knead the dough on a floured surface for about 8-10 minutes.
Place in a greased bowl, cover, and let rise in a warm place for about 1 hour.
Punch down the dough, shape it, and let it rise again for 30 minutes.
Preheat the oven to 350°F (175°C).
Bake for 30-35 minutes until golden brown.
Let cool before slicing.