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Combine the warm water and yeast in the bowl of a stand mixer (or a large mixing bowl) and let stand for 5 minutes, until foamy and fragrant.
Add the warmed milk, sugar, egg, melted butter, and vanilla extract to the yeast mixture and stir to combine. Add the flour and salt, then mix with the dough hook on medium speed (or stir with a wooden spoon, then knead by hand) for 5–6 minutes, until the dough is smooth, slightly tacky, and pulls away cleanly from the sides of the bowl.
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