First step, In a large bowl or the bowl of a stand mixer, dissolve the yeast in the warm milk. When the mixture is bubbly, mix in the brown sugar, butter, one cup flour, and salt, and mix until combined.
Next step is, Add the remaining flour, one cup at a time, and mix until a smooth and slightly sticky dough forms. Cover the bowl with plastic wrap and let rise about one hour, until doubled in size.
After that, After the dough has risen, preheat the oven to 450. Line two baking sheets with parchment paper and set aside. Divide the dough into twelve equal sized pieces, and roll each piece into a long skinny rope. Twist into a pretzel shape.