Place milk in a microwave safe measuring cup. Heat for 30-45 seconds in the microwave, until it’s about 120 degrees. Add yeast and stir. Let it sit for a few minutes.
Place sugar, butter, salt, and egg in the bowl of a stand mixer fitted with the paddle attachment.
Mix until the butter is distributed throughout the liquids, although it may be chunky. Pour in the milk/yeast mixture and stir for a few seconds.
Add flour and stir with the paddle attachment just until the mixture starts to stick to the paddle.
Then replace the paddle with the dough hook. Continue mixing on low speed until the dough forms a ball in the center of the bowl.
Spray a large bowl with cooking spray and place the dough ball in it. Spray the top of the dough ball with cooking spray (lightly) and cover the bowl with plastic wrap. Let sit for 1-2 hours until it doubles in size.
Note on rising: if your house is warm, it should rise no problem. If it’s cold in your house, it may take longer for the dough to rise, so plan accordingly!