Warm up the milk in a small saucepan over medium heat until it reaches 110 degrees. Pour into a bowl and add the yeast to the bowl. Stir well and let sit for 5 minutes.
Once the yeast has dissolved, add brown sugar, 1 cup of flour, softened butter, and salt and mix using a hand mixer or a stand-up mixer.
Slowly add the other 3 cups of flour, mixing as you go. I used my hands for this part and kneaded as I went.
Once it is mixed and your dough has formed, place it in a bowl, cover it with a towel, and put it in a warm place (I like to use the microwave or the proof setting in the oven). After an hour, your dough should have risen.
Preheat oven to 450 degrees.
Divide dough into 12 pieces. Using one piece at a time, roll out into a rope. Holding the ends, make a loop and then finish into a pretzel shape.
Dip each pretzel in a mixture of the baking soda and water before putting on a baking sheet.
Sprinkle each pretzel with salt and bake for 8-9 minutes.
After you remove them from the oven, brush them with melted butter. Add a little more salt or parmesan cheese and enjoy! We like to serve ours with marinara sauce.