In a small bowl, dissolve yeast in warm water. In a large bowl, combine milk, eggs, sugar, shortening, salt, yeast mixture and 3 cups flour; beat on medium speed 3 minutes until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky).
Turn dough onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover with a kitchen towel and let rise in a warm place until doubled, about 1 hour.
Punch down dough. Turn onto a lightly floured surface; divide into 4 portions. Roll each portion into a 12-in. circle; cut each into 12 wedges. Roll up wedges from the wide ends. Place 2 in. apart on greased baking sheets, point side down; curve to form crescents.
Cover with kitchen towels; let rise in a warm place until doubled, about 30 minutes. Preheat oven to 350°.
Bake until golden brown, 8-10 minutes. Remove from pans to wire racks; serve warm.