Combine milk, sugar, salt and butter in a small saucepan. Heat over low heat until butter melts and sugar dissolves. Cool to lukewarm.
Meanwhile, dissolve yeast in the warm water in a warm bowl. Add lukewarm milk mixture, eggs and 2 1/2 cups flour. Mix for 2 minutes at low (speed 2) in a standmixer with dough hook.
Add more flour, 1/2 cup at a time, continuing on speed 2 until dough clings to the hook and cleans the sides of the bowl. (You may not need the full amount of flour). Continuing kneading with dough hook on speed 2 about 2 minutes longer. (Dough will be somewhat sticky).
Place dough in a greased bowl, turning to grease top. Cover and let rise in a warm place until doubled in bulk, about 45 minutes to one hour.