Follow these easy steps to create your delightful Cinnamon Knots with Coffee Icing:

1. Prepare the Dough: In a large bowl, combine flour, instant yeast, granulated sugar, salt, and ground cinnamon. Mix well.
2. Mix Wet Ingredients: In another bowl, mix warmed milk, melted butter, and eggs until combined.
3. Combine Mixtures: Gradually add the wet mixture to the dry ingredients, stirring until a soft dough forms.
4. Knead the Dough: On a floured surface, knead the dough for about 5 minutes until smooth and elastic.
5. First Rise: Place the dough in a greased bowl, cover with a towel, and let it rise in a warm place for 30-45 minutes or until doubled in size.
6. Roll Out the Dough: After rising, punch down the dough and roll it out on a floured surface into a rectangle about ¼ inch thick.
7. Spread Filling: In a small bowl, mix brown sugar and ground cinnamon. Spread the mixture evenly over the dough.
8. Add Nuts: If using, sprinkle chopped nuts over the filling.
9. Shape the Knots: Cut the dough into strips and tie each strip into a knot. Place them on a baking sheet lined with parchment paper.
10. Second Rise: Cover the knots with a towel and let them rise for another 15-20 minutes.
11. Preheat Oven: While the knots are rising, preheat your oven to 350°F (175°C).
12. Bake: Bake the knots for 20-25 minutes or until golden brown.
13. Prepare Icing: While the knots cool, make the coffee icing by whisking together powdered sugar, brewed coffee, vanilla extract, and salt in a bowl until smooth.
14. Ice the Knots: Drizzle the coffee icing over the warm knots before serving.

These steps will lead you to an impressive batch of Cinnamon Knots with Coffee Icing that will have your kitchen smelling heavenly!