In stand mixer bowl, combine the yeast and 1 teaspoon sugar and mix in the warm water. Let it set for 5 minutes until foamy.
Heat milk in microwave-safe dish to 75°F.
Using paddle attachment, mix in the milk, 1/4 cup sugar, butter and 3 cups bread flour.
Switch to dough hook attachment. Mix until smooth, about 3 minutes. Continue adding enough of the remaining flour until the dough forms into a smooth ball and no longer sticks to the side of the bowl.
Knead for 5-7 minutes. Place the dough in a lightly greased bowl; cover and let rise in a warm place until doubled in size, about 1 hour.
Prepare pans: Grease two 8½x4½-inch bread pans; set aside.
Remove the dough from the bowl and roll out into a large rectangle, 10x20-inches and about ½-inch thick. Combine melted butter and garlic and spread over the dough. Sprinkle cheese and rosemary evenly over dough.
Starting from the short side of the dough, cut 5 equal strips. Place each strip onto the other to make a tall stack. Cut the stack into four equal squares.
Place two stacks horizontally into a prepared bead pan. Repeat with the remaining dough in the other pan. Cover and let rise for about 30-40 minutes.
Preheat oven to 350°F.
Bake for 35-40 minutes. Remove the bread from the pans and let cool on a wire rack.