Combine the water, sugar and yeast together. Let sit 10 minutes or until the mixture begins to bubble on top.
Add in the milk, yogurt, oil, minced garlic, flour baking powder and salt. With your hands, mix until the dough comes together.
Turn dough out onto lightly floured surface. Use floured hands to knead the dough until smooth, about 3 to 5 minutes.
Lightly grease the same mixing bowl with a small spray of cooking oil. Transfer dough to the bowl and cover with plastic wrap. Let rest at room temperature about 1-2 hours until doubled in size.
Heat a large cast iron skillet over medium-high heat. Grease skillet all over with 1/2 teaspoon of the extra oil.
Place one piece of the naan on the oiled hot skillet and cook until bubbles form on top, about 1-2 minutes. While cooking, brush the top with a little oil.
Flip over and cook for another 1-2 minutes, until large golden spots appear on the bottom.
Remove from the skillet and wrap in a clean kitchen towel. Repeat with the remaining naan (keep them wrapped in a towel while you work).