Warm milk to room temperature and dissolve yeast in the milk in a bowl. Mix with oil, vinegar and eggs.
In a second bowl combine flour, salt and sugar. Gradually add the milk mixture to form a dough. (You might not need all of the milk.) Place in a clean mixing bowl, cover with oil-greased cling film and leave somewhere warm for 30-60 minutes.
Knead dough and divide into individual rolls or leave as loaf. Place on a baking tray, cover again and let rise for another 30 minutes.
Preheat oven to 200 C / Gas 6.
Bake bread on the baking tray for 15-20 minutes until golden brown.