Prepare the Dough: In a large bowl, combine warm milk, yeast, and 1 tsp of the granulated sugar; let stand 5 minutes until frothy. Mix in the melted butter, the remaining granulated sugar, salt, and gradually add the flour until a soft dough forms. Knead minimally by hand on a lightly floured surface for 1-2 minutes until slightly smooth. Cover and let rise in a warm spot for 15-20 minutes.

Prepare Filling and Roll: On a floured surface, roll the dough into an approximate 10x18 inch rectangle. Brush the dough evenly with the 4 tbsp of softened butter. In a separate bowl, mix the brown sugar and cinnamon, then sprinkle the mixture evenly over the buttered dough.

Shape the Knots: Using a pizza cutter or sharp knife, cut the dough lengthwise into 1-inch strips (you should get about 12-15 strips). Gently stretch each strip and loosely tie it into a simple knot shape. Place the knots on a parchment paper-lined baking sheet, leaving some space between them.

Bake: Preheat the oven to 375°F (190°C). Bake the knots for 15-18 minutes until golden brown and the filling is bubbly and slightly caramelized.

Prepare Icing: While the knots bake or cool slightly, prepare the icing. First, dissolve the instant coffee granules in 1 tbsp of hot water or milk. In a medium bowl, combine the powdered sugar, 2 tbsp melted butter, maple syrup, and the dissolved coffee mixture. Whisk vigorously until the icing is thick and smooth.

Glaze: Drizzle or spread the coffee icing generously over the warm cinnamon knots. Serve immediately for the best texture.