Combine yeast, sugar and water in small bowl. Let sit until foamy, about 5-10 minutes. In stand mixer, combine salt and flour. Once yeast is ready, add milk and yogurt to the yeast mixture. Pour all wet ingredients into dry ingredients and beat together with dough hook until it's formed into a ball of dough.
Take the dough out of the bowl. Hand knead on a lightly floured surface about 3-4 minutes, then place in a greased bowl and cover with a damp towel. Let rise for one hour in a warm, dry place.
Cut dough into 12 equal sized portions and roll into balls. Preheat a skillet on medium heat. Roll out first ball and brush with melted butter. Place in skillet. Once it starts bubbling, flip over. There should be some dark spots. It should cook in about 2 minutes on each side. Stack cooked pieces on plate and cover with a towel to keep warm.
When ready to eat, mix remaining melted butter and minced garlic together. Brush onto naan. Enjoy!