Mix the dry ingredients together in a large bowl.
Place the soy milk in a microwave safe bowl. Microwave at high for 25-30 seconds (note that this can vary depending on your microwave) until the milk is around 42C/110F. It should be warm to the touch but will not burn you. If it’s too hot, leave to cool for a few minutes.
Mix in the sugar and yeast into the warm milk. Leave to sit for 10-15 minutes until it foams up. When it’s foamy, mix in the oil.
Make a well in the center of the dry ingredients. While mixing, pour in the yeast and milk mixture.
Keep mixing until a dough is formed. Knead for 5-10 minutes until dough is smooth. You can opt to knead it in the bowl if your bowl is large enough to minimise the mess, or you can place it on a lightly floured surface.
Scrape off the flour on the sides of the bowl if needed. I like to use my hands to knead everything together. Keep kneading until the dough is stretchy and no longer sticks to your hands. You'll have a smooth ball of dough. The gluten bonds will strengthen as the dough is kneaded.
Shape the dough into a ball, then place it back in the bowl. Cover it with a damp towel and let it rest for at least 1 hour or until doubled in size.