Combine 1 cup flour, undissolved yeast, sugar and salt in a large mixer bowl. Heat water, milk and butter until very warm (120o to 130oF). Gradually add to flour mixture. Beat 2 minutes at medium speed of electric mixer, scraping bowl occasionally. Stir in enough remaining flour to make a soft dough. Knead on lightly floured surface until smooth and elastic, about 8 to 10 minutes. Cover; let rest 10 minutes. Divide dough into 6 equal pieces; roll each piece to 12-inch rope. Place on large greased baking sheet. Cover; let rise in warm, draft-free place until doubled in size, about 30 to 45 minutes.
Bake at 375oF for 20 to 25 minutes or until done. Remove from sheet; cool on wire rack.