Step 1: Get Your Dough Rolling! In a small bowl, combine your warm milk, yeast, and 1 tablespoon of granulated sugar. Stir gently and let it sit for 5-10 minutes until frothy. In a larger bowl (or stand mixer bowl), whisk together the flour, remaining granulated sugar, and salt. Pour in the foamy yeast mixture, melted butter, and egg. Stir until a shaggy dough forms. Knead by hand on a lightly floured surface for 8-10 minutes, or with a stand mixer for 5-7 minutes, until smooth and elastic. Lightly grease a clean bowl, add the dough, cover, and let rise in a warm spot for about an hour, or until doubled in size.
Step 2: Whip Up That Cinnamon Swirl Filling. While the dough is rising, combine the softened butter, brown sugar, and ground cinnamon in a small bowl. Mix until it forms a smooth, spreadable paste.
Step 3: Shape Your Knots of Joy. Once the dough has doubled, gently punch it down. Turn onto a lightly floured surface and roll into a rectangle, roughly 12x16 inches. Spread the cinnamon filling evenly all over the dough, almost to the edges. Fold the dough in half lengthwise to create a long, skinny rectangle. Slice the dough into 12 equal strips. Take each strip, twist it gently, and then tie it into a knot. Place the knots carefully on a baking sheet lined with parchment paper, tucking the ends underneath.
Step 4: Give Them a Second Rise. Cover your shaped knots with a clean kitchen towel and let them rise again for another 30-40 minutes until puffed up.
Step 5: Time to Bake! While the knots are rising, preheat your oven to 375°F (190°C). Once heated, bake the knots for 15-18 minutes, or until golden brown and fragrant. Let them cool slightly on the baking sheet while you prepare the icing.
Step 6: The Grand Finale: Coffee Icing! In a small bowl, whisk together the powdered sugar, brewed coffee, and vanilla extract. Start with the suggested amount of coffee, adding more a tiny bit at a time until you reach your desired drizzling consistency.
Step 7: Drizzle and Devour! Drizzle the coffee icing generously over your warm cinnamon knots. Serve immediately, perhaps with your favorite coffee or tea.