In a small saucepan over medium heat, add the Nestlé Ideal Milk, granulated sugar, salt, and butter. Heat until the butter melts and then allow to cool for 10 minutes.
In the bowl of a stand mixer, combine 2 cups of flour and the yeast.
Once the butter mixture has cooled, add it to the stand mixer and mix with the dough hook attachment on low. Add the egg and combine.
Add the remaining 2 cups of flour, a ½ cup at a time (You may not need it all). Knead the dough for 5 minutes on low. If the dough seems a bit sticky, mix in some extra flour until the dough starts pulling away from the mixing bowl.
Cover and rest the dough for 10 minutes.