I think what you are after is Task.Delay. This doesn’t block the thread like Sleep does and it means you can do this using a single thread using the async programming model.
async Task PutTaskDelay()
{
await Task.Delay(5000);
}
private async void btnTaskDelay_Click(object sender, EventArgs e)
{
await PutTaskDelay();
MessageBox.Show("I am back");
}