In a small bowl, combine warm milk, sugar, and yeast. Let sit 5–10 minutes until foamy.
In a large bowl, whisk eggs, melted butter, vanilla, salt, and zest.
Add the yeast mixture, then gradually stir in flour until a soft dough forms.
Knead on a floured surface for 8–10 minutes , until smooth and elastic.
Place in a greased bowl, cover, and let rise 1–1½ hours , until doubled.