Dissolve yeast in warm milk in large bowl. Stir in remaining ingredients except all-purpose flour. Stir in enough all-purpose flour to make dough easy to handle. Turn dough onto lightly floured surface; knead until smooth and elastic, 5 to 10 minutes.
Place in greased bowl; turn greased side up. Cover; let rise until double, about 1 hour. Dough is ready if indentation remains when touched.
Punch dough down; divide into halves. Shape each half into an 8-inch long loaf. Place loaves into two greased 9 x 5-inch loaf pans. Cover; let rise until double — 40 to 45 minutes.