In a small bowl, combine warm milk, yeast, and granulated sugar. Allow this mixture to sit for about 5 to 10 minutes, until frothy and bubbly.

In a large mixing bowl, whisk together all-purpose flour, remaining sugar, and salt.

Add the activated yeast mixture, melted unsalted butter, and large egg to the dry ingredients. Mix until a cohesive dough forms.

Transfer the dough to a floured surface and knead for about 8 to 10 minutes.

Place the kneaded dough in a greased bowl, cover with a towel, and let it rise for 1 hour, or until doubled in size.

Prepare the filling by blending together softened unsalted butter, brown sugar, and ground cinnamon.

After the dough has risen, punch it down gently, roll it out into a rectangle, and spread the cinnamon filling evenly.

Cut the dough into strips, twist each strip, and tie them into knots.

Arrange the shaped knots on a baking sheet, cover with a towel, and allow them to rise for another 30 to 40 minutes.

Preheat your oven to 375°F (190°C). Bake the knots for 15 to 18 minutes, or until golden brown.

As the knots are baking, prepare the coffee icing by whisking together powdered sugar, brewed coffee, and vanilla extract.

Once baked, let the knots cool slightly and drizzle the coffee icing generously over them before serving.