In the bowl of a stand mixer fitted with the dough hook attachment, combine water, yeast and sugar. Activate the yeast for 5 minutes, or until foamy.
In a small saucepan, heat butter and milk until butter melts and reaches 120 degrees. Set aside.
In a medium bowl, combine flour, sugar and salt. Add to yeast mixture. Add eggs, vanilla and milk mixture to the stand mixer bowl and combine on low for 2 to 3 minutes until dough starts to come together. Once mixed, knead for 3 minutes until dough is shiny and elastic. Transfer to a large greased bowl and cover for an hour until dough doubles in size.