Mix 2 ½ cups flour and yeast in stand mixer fitted with a beater blade. Turn machine to low and slowly add the milk mixture. After the liquids are incorporated, switch to the dough hook, increase the speed to medium.
Gradually add the remaining flour (add more or less as necessary*) until dough clings to the hook and almost cleans the sides. Knead until the dough is shiny and smooth, 6 to 7 minutes. You want the dough to be slightly sticky.
Turn dough onto lightly floured counter and knead briefly to form smooth, round ball. Coat large bowl with nonstick cooking spray. Place dough in bowl and coat surface of dough with cooking spray.