In a large mixing bowl, combine warm water, instant dry yeast, and granulated sugar. Stir gently and allow to sit for 3-4 minutes until frothy.

Add all-purpose flour and salt to the yeast mixture. Gradually pour in milk while stirring until a sticky dough forms.

Mix in melted butter until fully incorporated. Ensure dough is slightly tacky but not overly dry.

Cover the bowl with a towel and let the dough rise in a warm place for 60-90 minutes until doubled in size.

Gently punch down the risen dough and turn it onto a floured surface. Roll to ½ inch thick and cut out 8 circles.

Cover muffin shapes with a towel and let them rise for 45 minutes.

Heat a non-stick skillet over medium heat. Cook muffins for about 5 minutes on each side until golden brown.