In stand mixer bowl, combine warm water, yeast and 1 teaspoon sugar; stir, let stand 5 minutes. In saucepan or microwave-safe dish, heat milk to 120-130°F. Add 3 cups flour and warm milk to yeast mixture. Using a paddle attachment, blend on low speed for 30 seconds. Cover bowl with plastic wrap and foil. Let stand at room temperature for 6 to 24 hours.
Switch to dough hook attachment. Add 3 tablespoons sugar, salt and shortening. Blend on low speed for 30 seconds. Gradually stir in enough remaining flour to make a firm dough. Knead until smooth and elastic, about 5 minutes.(NOTE: For hand mixing: following above steps, mix ingredients in large mixing bowl using a wooden spoon or dough whisk. Knead on floured surface until smooth and elastic.) Place dough in lightly oiled bowl and turn to grease top. Cover; let rise until indentation remains after poking dough with finger down to second knuckle, about 1 hour.
Prepare pans: Grease two 8x4- or 9x5-inch bread pans; set aside.
Punch down dough. Divide into 2 equal parts. On lightly floured surface, roll or pat each half to a 14x7-inch rectangle. Starting with shorter side, roll up tightly, pressing dough into roll with each turn. Pinch edges and ends to seal. Place in prepared pans, seam side down. Cover; let rise until indentation remains after lightly touching.
Preheat oven to 400°F.
Bake for 35 to 40 minutes until golden brown. Remove from pans; cool on wire rack.