Place the yeast, sugar and warm water in a large bowl or the bowl of a stand mixer. Let it stand five minutes until frothy.
Add flour and salt to the bowl. Add oil and milk and knead until a dough forms.
Continue kneading for 6-8 minutes until the dough is smooth but very slightly tacky.
Form the dough into a smooth ball and place in an oiled bowl. Coat the top with oil. Cover the bowl with a tight lid or cling wrap. Set the bowl in a warm spot to rise for 1 ½ to 2 hours or until doubled.
Once the dough has risen, turn it out on an unfloured surface and cut into three equal portions.
Form each section into a smooth ball. Cover with a kitchen towel and let stand 10 minutes so the dough relaxes and is easier to work with.
Using the palms of your hand roll each ball into a rope, about 12 inches in length. Pinch the ropes together at one end and braid. Tuck the ends on either side underneath.
Place the braided loaf on a baking sheet lined with parchment paper or a silicone mat. You can also lightly oil the baking sheet instead. Preheat the oven to 375 degrees Fahrenheit/190 degrees Celsius.
Cover the loaf with a kitchen towel and let it stand in a warm spot for 45 minutes to an hour until it is puffy and has roughly doubled in size. Brush with a wash of one tablespoon maple syrup mixed with one tablespoon of non-dairy milk for great color. You can also sprinkle on poppy seeds or sesame seeds at this time, if you want to.
Bake 30 minutes until the loaf is golden brown. Cool completely on wire rack before slicing.