In a small bowl, combine warm milk, yeast, and 1 tablespoon of the sugar. Let sit 5–10 minutes until frothy.

In a large bowl, mix flour, remaining sugar, and salt. Add yeast mixture, melted butter, and egg. Mix until a dough forms.

Knead the dough on a floured surface for 8–10 minutes until smooth and elastic.

Place dough in a greased bowl, cover, and let rise for 1 hour or until doubled.

Mix softened butter, brown sugar, and cinnamon to form the filling.

Roll dough into a 12×16-inch rectangle. Spread filling evenly. Fold lengthwise and cut into 12 strips.

Twist each strip and tie into a knot. Place on a lined baking sheet.

Cover and let rise 30–40 minutes until puffy.

Bake at 375°F (190°C) for 15–18 minutes until golden.

Whisk powdered sugar, coffee, and vanilla. Drizzle over warm Cinnamon Knots with Coffee Icing.