I STRONGLY recommend weighing ingredients vs. measuring. And I recommend the dough using a stand mixer fitted with the dough hook attachment, as it'll be very soft and sticky.
Mix the dry ingredients: In the bowl of a stand mixer with dough hook attachment, whisk together the tapioca starch, millet flour, sorghum flour, sugar, instant yeast, baking powder, and xanthan gum. I do NOT put the salt in quite yet, as it can retard the yeast.
Make the psyllium gel: In a medium bowl, whisk together the psyllium husk and lukewarm water. After about 30-45 seconds, a gel will form.
Add the milk, eggs and oil to the psyllium gel, and whisk well to combine.
Make the dough: Make a well in the middle of the dry ingredients and add the psyllium gel-egg mixture, THEN add the salt.
Mix the dough until smooth and all the ingredients are evenly incorporated, scraping down the bowl as needed to incorporate all the dry ingredients.
Then knead for a further 4-5 minutes in the stand mixer (I do it on medium-low to medium, around a 4-5 speed). Use a rubber spatula to occasionally scrape along the sides make sure everything gets in there. This extra kneading time will make the dough EXTRA smooth, which is the key to beautiful gluten free sandwich bread.
The final dough will be VERY soft and sticky---this is on purpose! Resist the temptation to add more flour to the dough. You'll be working on a generously floured surface with floured hands. If you have time and are worried about dealing with it, you can chill it in the fridge for about 1 hour before proceeding to the next step. This will make the dough slightly less sticky and therefore easier to handle. However, I've tried it both ways and don't see a reason to chill it.