In a bowl, combine the warm water, sugar, and yeast.
Let it sit for 5–10 minutes, until it becomes foamy.
Add the milk, yogurt, oil, minced garlic, flour, baking powder, and salt to the yeast mixture. Mix with your hands until a dough forms.
Transfer the dough to a lightly floured surface and knead with floured hands for 3–5 minutes, until smooth and elastic.
Lightly grease the mixing bowl with oil.
Place the dough back in the bowl and cover it with plastic wrap.
Let it rest at room temperature for about 1 hour, until it doubles in size.
Once the dough has risen, divide it into 10 equal pieces and shape each piece into a ball.
Roll each ball into a 6-inch oval, about ⅛ inch thick, using a rolling pin.
Heat a pan over high heat and lightly grease it with oil to prevent sticking.
Place one flattened dough in the hot pan. Cook until it puffs up, forms bubbles, and develops browned spots.
Flip and cook the other side. Repeat with the remaining dough.
Brush the cooked naan with melted garlic butter and sprinkle with cilantro or parsley, if desired.
Serve warm and enjoy!