In a large bowl, mix flour, sugar, and salt.
In a separate bowl, combine the warm milk, melted butter, and yeast. Let it sit for about 5 minutes until foamy.
Beat in the eggs and vanilla into the yeast mixture.
Gradually add the wet ingredients into the dry ingredients, mixing until a soft dough forms.
Knead on a lightly floured surface for about 5 minutes until smooth and elastic.
Place dough in a greased bowl, cover with a cloth, and let it rise in a warm place for about 1 hour or until doubled in size.