Heat 2 cups of milk in the microwave for about a minute to a minute and a half. You want it warm to the touch, between 110 and 115°F. If it is too hot, it can kill your yeast.
Pour the warm milk into a large mixing bowl and stir in 1 ½ tablespoons of yeast. Let it sit until it looks bubbly and foamy.
Add in ¼ cup brown sugar, 4 tablespoons melted butter, 1 teaspoon salt, and 1 cup of flour. Stir until combined. Slowly add the rest of the flour (about 3 more cups) until you have a soft, slightly tacky dough.
Grease a clean bowl with a little oil. Place your dough inside and turn it until it is coated. Cover with a towel and let it rise in a warm spot for about an hour, or until it is doubled in size.
Punch down the dough and place it on a floured surface. Knead lightly for a minute or two. Divide into 12 equal pieces. Roll each piece into a rope about 12 inches long. To shape, make a U, cross the ends, twist once, then fold the ends down and pinch to seal. If the dough resists, let it rest 5 minutes, then try again.
Place pretzels on a parchment-lined baking sheet. Bake at 400°F for 15 to 20 minutes, until golden brown.
Mix together 1 cup sugar with 1 tablespoon cinnamon. While the pretzels are warm, brush generously with melted butter, then coat in the cinnamon sugar mixture.
Optional for extra chew: Dunk each shaped pretzel in a quick baking soda bath (6 cups water with ¼ cup baking soda simmered together) before baking. It gives them a classic pretzel texture and color.