Add the warm water, yeast and sugar to the bowl of a stand mixer. Let sit for 5 minutes or until bubbly. If the yeast isn't bubbly, it isn't active and the pretzels will not work. Repeat this step with new yeast until it is bubbly.
Add the melted butter, salt and flour to the stand mixer. Turn on LOW and allow the stand mixer to knead the dough for 10 minutes.
The dough should be very soft, but shouldn't stick to the sides of the bowl at all.
Allow the dough to rise until double. (1 hour on the counter) If using the Instant Pot, spray the liner with non stick spray and then let the dough rise in the Instant Pot on the Yogurt NORMAL setting for 15 minutes.
After the dough has doubled, punch down the dough and divide into 12 equal sized pieces. (Cut dough into thirds, and then quarter each third)
Shape each knot by rolling each portion of dough into a long rope, tie a knot and then tuck the ends into the center. Arrange on a greased pan. Repeat with remaining dough.
Allow the dough to rise while the oven preheats to 400°
Bake at 400° for 8-10 minutes.
While the rolls are baking, combine all of the vanilla glaze ingredients in a small bowl with a hand mixer until smooth. Set aside.
Immediately after the rolls come out of the oven, brush with melted butter and then sprinkle with the cinnamon and sugar.
Serve with the vanilla glaze.
Best eaten within the hour. If you'd like to store for a longer period of time, I suggest freezing the pretzels as soon as they are cool. Reheat the pretzels in the oven at 425° for 8-10 minutes.