Dissolve the yeast in a little lukewarm milk and set to one side until frothy. Add all the ingredients in the bowl of a stand mixer and mix until the dough comes off the edges of the bowl and forms a ball.
Grease a loaf tin and place dough in it. Cover with a tea towel and leave to rise for 2 hours.
Preheat the oven to 180 C / Gas 4.
Brush the top of the brioche with egg yolk and sprinkle with sugar. Bake until golden brown, about 25 minutes.
You can also knead the dough with your hand, it just takes longer.