Place the milk and butter in a large, microwave-safe bowl, and microwave at 500W for 2 min 30 seconds.
Add and whisk in the sugar and yeast. Then add the flour and fully combine, kneading for 2-3 minutes in the bowl.
Place the bowl back in the microwave and microwave at 200W for 3 min 30 seconds. Then knead for an additional 2-3 minutes, and cover with a damp dishcloth and allow to rise for 1 hour. Make the custard filling in the meantime.
Divide the dough into 16 pieces. Then tear off a small piece of dough from each larger piece, and divide in half, so that you have one large piece of dough and two smaller pieces. For each bear, flatten the larger piece into a pancake and place 1-2 tsp of custard in the center. Shape the dough into a ball, and place in a buttered 9x5 inch loaf pan. Roll the two smaller pieces into balls, and once all of the bodies are filled and placed in the pan, stick the ears on top of each bear. 8 bears will fit in each loaf pan.
Bake at 445F for 15-20 minutes, covering with aluminum foil if they are browning too quickly.
Remove from the oven and place them, still in the loaf pans, on a wire rack and cool completely.
Then decorate the bears as desired. I drew on chocolate faces, and stuck heart-shaped candies onto the ears with chocolate, to look like bows.