Warm the milk to between 90 and 110 degrees F.
Mix all of the ingredients together minus the optional water.
(If you have a mixer with a bread hook you can use that or just mix by hand)
Once all the ingredients are added if the dough seems very dry add 1 tablespoon of water. A second tablespoon of water can be added if still needed. I rarely need to add the water unless the air in my home is extremely dry.
See picture for how the dough should look.