Dissolve yeast and sugar in warm milk in a large bowl; let stand 5 minutes. Stir in butter. Lightly spoon flour into dry measuring cups; level with a knife.
Add 4 1/4 cups flour and salt to yeast mixture; stir until blended. Turn dough out onto a floured surface. Knead until smooth and elastic (about 10 minutes); add enough of remaining flour, 1 tablespoon at a time, to prevent dough from sticking to hands (dough will feel tacky).
Place dough in a large bowl coated with cooking spray, turning to coat top. Cover and let rise in a warm place (85), free from drafts, 1 hour or until doubled in size. Punch dough down; let rest 5 minutes.
Roll into a 14 x 7-inch rectangle on a floured surface.
Roll up rectangle tightly, starting with a short edge, pressing firmly to eliminate air pockets; pinch seam and ends to seal.
Place roll, seam side down, in a 9 x 5-inch loaf pan coated with cooking spray. Cover and let rise 1 hour or until doubled in size.
Preheat oven to 35
Uncover dough.
Bake at 350 for 45 minutes or until loaf is browned on the bottom and sounds hollow when tapped.