Add lukewarm water and milk to a large mixing bowl. Whisk in active dry yeast and sugar. Allow to “proof” for about 5 minutes, or until foamy.
Add in olive oil, garlic powder, and dried rosemary (or other dried herbs) and whisk to combine.
Add in bread flour and salt and use a wooden spoon or rubber spatula to mix into a shaggy dough.
Turn the dough out onto a lightly-floured work surface and knead for 5-10 minutes, or until the dough is smooth and elastic. The dough should spring back when gently poked. If the dough seems too wet and is sticking excessively to your hands or the work surface, gradually work in extra flour about 2 tablespoons at a time, until the correct consistency is achieved. (Avoid working in too much flour.)
When the dough is nice and elastic, shape it into a ball. Drizzle the inside of the mixing bowl with olive oil and place the dough inside, turning to coat with oil.
Cover the bowl with plastic wrap or a slightly damp kitchen towel and place it in a warm area in your kitchen. Let the dough rise for about 1 hour, or until roughly doubled in size. (If your kitchen is very chilly, it may take a little extra time. On a very warm day, it can take less time. Judge by size rather than time.)