In the bowl of a stand mixer, add warm water, brown sugar, yeast, and canola oil. Use a dough hook to combine. Once combined, let stand for 3 minutes to foam up a little.
In a separate bowl, whisk flour and salt together. With the mixer on low, add in flour mixture. Mix until dough comes together and then increase speed to medium. Knead for 5 minutes. Remove from bowl and place in a clean, greased bowl. Cover with a damp towel and leave in draft-free spot to rise for 90 minutes.
Prepare two baking sheets by lining with parchment paper. Punch down dough and turn out onto clean counter. Roll into a 12x6 rectangle, with the long side parallel to the counter's edge. Cut rectangle into 12 even strips. Grabbing one strip, use your hands to length and roll into a 22 inch strip. Then form strip into U. Twist the two ends at the top two times and then fold down to attach the ends to the bottom of the U, forming the pretzel. Press down dough to seal it into place. Place formed pretzel on baking sheet lined with parchment paper. Repeat with the other 11 strips of dough.
Cover baking sheets of pretzels with damp towels and let rise until puffy, about 20 minutes. Preheat oven to 425 degrees. Once rise, remove damp towels from baking sheets. Brush pretzels with a little melted butter and place into oven until slightly golden on top, about 18 minutes.
Remove from oven and let cool for 5 minutes. Mix sugar and cinnamon in a shallow bowl until combined. Brush tops of pretzels with more melted butter and then dip into cinnamon sugar, butter side down. Set aside to set while you make the icing.