In the bowl of a stand mixer add the water, yeast, and sugar. Stir to combine.

Let the mixture stand for 5-15 minutes until you see the yeast bubble up and get foamy.

Attach the dough hook and add the milk, olive oil, salt and 4 cups of the flour.

Mix on low speed until all the flour is incorporated.

Gradually add ½ cup of flour at a time until the dough clears the side of the mixer. It should take about 5-7 minutes. The dough should still be soft but not sticky. It will be slightly stiffer than a normal bread roll dough. Try not to over-flour the dough or the rolls will be too dry.

Remove the dough to your hand and spray the stand mixer bowl with cooking spray. Place the dough back in mixer bowl and cover and let double in size, about 1-1 ½ hours. If your stand mixer doesn’t have enough room for the dough to double, spray a bowl large enough to let the dough double in with cooking spray, transfer the dough from the stand mixer, cover the bowl, and let it double in size.

Line 2 baking sheets with parchment paper, spray with cooking spray, and set aside.

Tip dough onto a lightly greased or floured counter and separate into 16 equal pieces.

Roll each dough piece into a ball. The best way to do this is place a dough piece on your counter, make a “c” with your hand (having your pinkie and thumb on the counter around the ball) and firmly grasp the roll while sliding your hand around in little circles on the counter. Pinch a seam into the bottom to close any gap it has and set on the prepared baking sheet.

Let rest for 20-25 minutes to puff up slightly.

Preheat the oven to 425 degrees F when starting to boil the water.

Place a large pot on the stove and add the water (the exact amount of water doesn’t totally matter, aim for 3 ½-4 ½ quarts), add the baking soda and brown sugar. Bring the water to a boil.

Gently pick up a dough ball, careful not to deflate the rolls too much and place it in the boiling water.

Boil each side for 20-50 seconds. The longer you boil the chewier the pretzel will be. I prefer them around 30-40 seconds per side. You can boil 3-4 rolls at a time.

Pick the rolls up out of the water with a slotted spoon or spatula, letting the water drip off.

Place the rolls on the greased baking sheets and immediately salt with coarse salt or pretzel salt.

Continue boiling and salting until all rolls are done. They will be weird and wrinkly but will be pretty again after baking. Make sure to keep the seam side down on the tray.

Once all the rolls are boiled and salted, use an extra sharp knife, blade, or bread lame, slice an “X” or “+” into the top of each dough ball about ¼ inch deep. Using a sharp blade or knife is important so you don’t deflate the dough more.

Bake for 19-23 minutes until the dough is deep golden brown.

Remove from oven and place on a cooling rack to cool. Serve warm or at room temperature.