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Prepare the Dough:
In a small bowl, dissolve the yeast in warm water and let it sit for 5-10 minutes until frothy.
In a large mixing bowl, combine the warm milk, sugar, eggs, melted butter, and salt. Mix until well combined.
Add the yeast mixture to the bowl and stir to combine.
Gradually add the flour, one cup at a time, mixing until a soft dough forms.
Knead the Dough:
Turn the dough onto a lightly floured surface and knead for about 5-7 minutes, until smooth and elastic.
Place the dough in a greased bowl, cover with a clean cloth, and let it rise in a warm place for 1-2 hours, or until it has doubled in size.
Shape the Doughnuts:
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