In a small bowl, combine the warm water, yeast, and sugar. Stir gently and let sit for 5-10 minutes, until the mixture is frothy.
In a large mixing bowl, combine the pineapple juice, milk, butter, and vanilla extract. Add the yeast mixture and stir to combine.
Gradually add the flour, one cup at a time, and mix until a dough forms. Add salt and continue kneading the dough for about 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover it with a clean towel, and let it rise in a warm place for about 1 hour, or until it has doubled in size.
Preheat the oven to 350°F (175°C). Punch down the dough and shape it into a loaf. Place it in a greased loaf pan.
Optional: Brush the top of the dough with a beaten egg for a golden finish.
Bake for 25-30 minutes, or until the bread is golden brown and sounds hollow when tapped on the bottom.
Allow the bread to cool slightly before slicing. Enjoy your homemade Hawaiian Bread!