In a large mixing bowl, whisk together the flour, instant yeast, brown sugar, and salt until well combined. Gradually add warm milk, eggs, and softened butter until a soft dough forms.

Transfer the soft dough onto a lightly floured surface and knead for about 8-10 minutes until smooth and elastic.

While the dough is resting, mix brown sugar with ground cinnamon in a small bowl to make the filling.

Preheat your oven to 375°F (190°C) and line a baking sheet with parchment paper.

Roll out the rested dough into a large rectangle, spread softened butter over the surface, and sprinkle cinnamon-sugar filling on top. Fold the dough in half lengthwise and slice into strips about 1 inch wide.

Twist each strip gently to create knots, then place them on the prepared baking sheet. Brush tops with melted butter mixture and sprinkle with cinnamon sugar if desired.

Bake the knots for about 20 minutes or until golden brown and puffed up.

In a saucepan, melt butter and maple syrup over low heat, then whisk in powdered sugar and instant coffee until smooth.

Drizzle the warm coffee icing over the baked knots and serve with coffee or tea.

Savor each bite of your delicious cinnamon knots!