Whisk together warm milk and active dry yeast. Let it set for 10 minutes to get foamy.
Add in the cooled melted butter, brown sugar, and salt. Mix for about 2 minutes.
Then, add in the flour (1 cup at a time). Mix well after each addition. When the dough starts to get sticky, switch to a dough hook.
Knead gently in the bowl to get your dough into a uniform ball. Then, place this dough ball in a well-oiled bowl.
Let rise for 1 hour or until the dough as doubled in size.
Punch the center of your dough, then turn out onto a floured surface. Cut evenly into 12 pieces.
At this time pre-heat your oven to 450 degrees Fahrenheit.
Then, whisk the baking soda and warm water together in a large bowl for the pretzel bath.
Take one piece of the pretzel dough and form it into a pretzel shape. Then, carefully dip into the baking soda bath. Whisking before each dip. Continue doing this for all 12 pretzels.
On a lined cookie sheet, bake the pretzels for 6-8 minutes or until golden brown.
Then, lightly brush each pretzel with melted butter and sprinkle with coarse salt.
If you use aluminum foil to line your cookie sheet, make sure to spray with a non-stick cooking spray or the pretzels will stick.
You could also use a parchment paper, but make sure it's safe for an oven temperature of 450 degrees Fahrenheit.
Store any remaining soft pretzels in a ziplock bag.