In a small bowl, stir together warm milk, ½ tablespoon (6 grams) sugar, and yeast. Let stand until foamy, 5 to 10 minutes.
In the bowl of a stand mixer, whisk together flour, salt, and remaining 1 tablespoon (12 grams) sugar by hand until combined. Add yeast mixture, melted butter, egg, egg yolk, and honey; using the paddle attachment, beat at low speed until a shaggy dough forms, 1 to 2 minutes.
Switch to the dough hook attachment. Beat at medium-low speed until a smooth, elastic dough forms, 6 to 8 minutes.
Spray a large bowl with cooking spray. Place dough in bowl, turning to grease top. Cover and let rise in a warm, draft-free place (75°F/24°C) until doubled in size, 35 to 45 minutes.