Knead by hand if you prefer but I always use a machine if I can and finish off the last bit of kneading by hand. Put all the ingredients except the milk in the bowl of your kneading machine. Run a couple of times to mix well. Add half the milk or water first and start kneading. Then add as much of the milk or water, as required, for a soft, smooth and elastic dough. If your ambient temperature is on the lower side, you may use lukewarm milk or water.