Pour lukewarm milk into the bowl of a stand mixer (or a large mixing bowl if preparing by hand). Stir in sugar and sprinkle in yeast. Proof for 10 minutes to ensure that your yeast is alive. While your yeast proofs, whisk together all dry ingredients (including minced garlic) in a separate bowl.

Add olive oil into wet ingredients. Dump in dry ingredients. If preparing with a stand mixer, mix on medium speed with the paddle attachment until the dough comes together in one shaggy mass. If preparing by hand, just stir until all the ingredients are combined and there's no dry flour left in the bowl.

If preparing with a stand mixer, switch to the dough hook attachment and knead at a medium speed for 5-8 minutes. The dough should be slightly tacky but still clear the sides of the bowl (see image). If it's on the sticky side, add in extra flour a tablespoon at a time until the dough clears the sides of the bowl. If preparing by hand, knead on a lightly floured surface for about 10 minutes. Again, the dough should be slightly tacky but not so sticky that's it's difficult to handle. Knead in extra flour a tablespoon at a time until the dough no longer sticks to your fingers or your work surface.

When you're done kneading, the dough should be smooth and elastic, and should spring back when gently poked. Place your dough into a lightly oiled bowl and give it a flip so that there's oil coating all surfaces of the dough. Cover with a damp towel or plastic wrap, place in a warm spot, and allow to rise until roughly doubled in size. (This should take between 1 and 2 hours depending on the temperature of your kitchen. In cold winter months, it might take the full two hours.)

Turn risen dough out onto a lightly floured surface and flatten it into a rectangle, then roll into a log about 8" long. Transfer to a lightly greased 9"x5" loaf pan. Cover with plastic or a damp towel and allow to rise an additional 30 minutes to 1 hour, or until loaf has risen just about an inch past the height of the loaf pan. Near the end of the rising time, preheat oven to 350°F.

Bake for 35-40 minutes, until deep golden brown. If it starts to get a little too dark, tent it with a sheet of foil. When it's ready, the loaf will sound hollow when tapped on the bottom. (If you have a thermometer, you can check that the internal temperature is between 190°F - 195°F.)

Transfer to a rack to cool entirely before cutting. Store in an airtight container for up to a week at room temperature, or for longer if refrigerated.