In a medium bowl, combine warm milk with sugar. Sprinkle yeast on top and let sit for 5-10 minutes until frothy.

In a large mixing bowl, mix flour and salt. Create a well in the center, add eggs, melted butter, vanilla, and yeast mixture. Stir until soft dough forms, then knead for 10 minutes.

Transfer dough to a greased bowl, cover, and let rise in a warm place for 1-2 hours until doubled in size.

Punch dough down, divide into three parts, roll into ropes, braid them, and place on a greased baking sheet.

Cover dough and let it rise for another 30-45 minutes until puffy.

Preheat oven to 350°F. Bake bread for 25-30 minutes until golden brown.

Mix powdered sugar with milk, drizzle over warm bread, and let glaze set.

Slice and serve, enjoying the fluffy texture and sweetness.