Warm milk and water to 105°-115° (If you do not have a thermometer heat to a temperature that feels very warm on your wrist, that is a perfect to activate the yeast.)
Stir in sugar to warm milk and water, then add the yeast. Set aside for about 10 minutes to let yeast dissolve and activate (it should rise and get foamy).
Add flour (but reserve about half a cup), salt, thyme, rosemary, garlic, yogurt, yeast mixture and olive oil to a mixing bowl or your stand mixer. *I always make this recipe using my stand mixer with the dough hook.
With stand mixer on the lowest speed setting, add remaining flour one spoonful at a time. Knead the dough with your stand mixer for 5 minutes after all flour has been added.
Remove dough from mixing bowl and roll into a ball by hand. It's okay if it seems a little bit tacky. Kneading the dough causes gluten to form and it begins to stick together instead of to your skin. Shape the dough by hand in a large ball.
Lightly coat bowl with a drizzle (about a tablespoon) of olive oil. Place dough in bowl and cover with plastic wrap. Set aside in warm dry area (countertop is fine) and let it rise for 1 hour.
Once dough has doubled in size prepare a clean spot to roll it out and begin heating your cast iron skillet. Divide the dough into 15 equal portions and lightly coat rolling pin with olive oil.
Roll dough flat and even about ⅛ inch high; not thick, but not paper thin.
Lightly grease pan with olive oil do not flip naan until you see bubbles starting to form (just like cooking a pancake!). Serve hot and enjoy!