Mix the yeast with the milk, stir and let it sit for 10 minutes
Mix the flour, salt, and sugar in the mixer bowl, fitted with a dough hook.

Add the yogurt, butter, milk/yeast mixture, and lightly beaten egg, and mix.
Knead the dough for 10 minutes or until it is smooth and elastic.

Lightly oil a bowl and transfer the dough to it. Cover the bowl with plastic wrap and let it rise in a warm place for 1 to 1.5 hours or until the dough doubles in volume.

Transfer the dough to a floured work surface and punch it down.
Cut it into 12 equal pieces and shape each piece into a smooth ball.

Place the balls into a 9×13 inch (23×33 cm) rectangular baking dish lined with parchment paper, leaving space between them.

Cover and let it rise for 1 to 1.5 hours in a warm place, or until the dough doubles in volume.

Preheat the oven to 350 F (180 C).

Brush the brioche with beaten egg and bake for 20 to 25 minutes.