In a large mixing bowl (or the bowl of a stand mixer fitted with a dough hook), stir together 2 cups of flour, the yeast (2 1/4 teaspoons), and salt (1/2 teaspoon). Set aside.
In a small saucepan over medium-low heat, warm the milk (1 1/2 cups), sugar (1/4 cup), and butter (1/4 cup) until the butter is just starting to melt and the mixture reaches about 110°F (warm but not hot to the touch). Stir to dissolve the sugar.
Use a spatula or whisk to incorporate sugar with the milk and allow the butter to start melting. Warm the butter mixture no higher than 110°F (43°C) (Note: It should be warm but not hot. If the temperature is higher than 110°F (43ºC), the yeast can burn and your dough won’t rise.
Once the milk mixture has come to temperature and the butter is just starting to melt, (you can check the temperature with a thermometer) pour the mixture into the bowl with the flour. If using a stand mixer, use the dough hook and stir to combine. You’ll need to stop and use a spatula to scrape the edges and bottom of the bowl to allow all of the flour to become fully incorporated into the milk. The mixture will be wet at this point.
Mix the dough on medium speed, adding 1/4 cup of the flour at a time until all of the flour is added and the dough is pulling away from the sides of the bowl. (Note: Slowly incorporating the flour will result in a softer dough and will prevent you from adding too much flour. See notes about flour measurements.)
Once the dough has formed, turn it out onto a lightly floured surface and shape it into a ball. Grease a large mixing bowl with nonstick baking spray or a drizzle of oil and place the dough into the bowl.
Cover with plastic wrap or a kitchen towel and allow it to rise until the dough has doubled in size (about 1 ½ hours).
When the dough has doubled in size, grease a 9x13 casserole dish with nonstick cooking spray and set aside. (Note: If food tends to stick to your casserole dish, you can add a layer of parchment paper to the bottom of your casserole dish).