Combine warm water, yeast, and ¼ tsp sugar and stir–allow to rest for 5-10 minutes until foamy.
Pour yeast mixture into the bowl of an electric stand mixer (or into a large bowl if you plan on kneading by hand). Add remaining ¼ cup sugar, warm milk, butter, egg and salt. Blend mixture until combined.

While mixing on low speed, slowly add the flour, mixing until the dough is smooth and elastic, about 5 – 6 minutes. You may not use all of the flour called for!
The dough should be soft, very slightly sticky when touched with a clean finger. It should be pulling away from the sides of the mixer.

Cover the bowl with plastic wrap. Allow to rise in a warm place until double in size, about 1 hour.
Gently punch the dough down. Add a little flour to your countertop or work surface. Grab a ball of dough, about the size of a golf ball, and roll it out into a long rope (about ½ inch thick and around 9 inches long). Tie the rope into a knot and place it on prepared baking sheet (I just rolled into balls).