1. In a bowl, combine warm milk, sugar, and yeast. Let it sit for 5-10 minutes until foamy.

2. Add flour, salt, and softened butter to the yeast mixture. Knead until the dough comes together.

3. Cover the dough with a towel and let it rest for 1-2 hours until it doubles in size.

4. Roll out the dough, cut it into triangles, and roll them up to form croissants. Let them rise for another 30-60 minutes.

5. Preheat the oven to 375°F (190°C) and bake the croissants for 15-20 minutes until golden brown.