Warm up the milk on the stove or in the microwave. You want to heat it till it is about 105 degrees. Basically you can put your finger in it and it is slightly warm. Next add the yeast to the milk. Let the yeast get all bubbly and delicious. Roughly 8 minutes.
In a large bowl add the flour, sugar and salt. Then using a pastry blender or a fork, cut the butter into the dough like you would for a pie crust. You want the butter pieces to be about the size of a pea. Once the butter is cut into the flour you have two options. Continue by hand in a mixing bowl, or transfer to the bowl of stand mixer and proceed.
Using either method, add the bubbly milk mixture and mix. Then add the two egg yolks and stir.
If you are mixing in a bowl, turn the dough out onto a floured surface and knead. This will be tough at first as the dough is sticky but after a bit it will become nice and smooth. You may need to add a little more flour to get the dough perfect. Make sure not to add too much flour.
If you are using a mixer, use the dough hook and slowly add flour until the dough starts to pull away from the sides. Remove from the mixer and place on a floured surface to form into a ball.
Wrap the dough in plastic wrap and let sit in the fridge for at least 30 minutes.