In the bowl of a stand mixer fitted with the dough hook, combine the flour, yeast, sugar, and salt. Whisk to mix well. Add the milk and melted butter, then mix on low speed until combined, about one minute. Increase the speed to medium and knead until the dough is soft and elastic, about five minutes. The dough should clear the sides of the bowl, but lightly stick on the bottom. If the dough sticks to the sides after two to three minutes, add another tablespoon of flour.

Coat a large bowl with nonstick spray. Place the dough in the bowl, cover with plastic wrap, and let rest in a warm space until doubled in size, about one hour.

Preheat the oven to 425 degrees Fahrenheit. Line two baking sheets with Gefen Parchment Paper.

Turn out the dough onto a clean work surface. Punch the dough down, then divide it into 24 equal pieces, each about the size of a golf ball. Roll each piece into a six-inch rope, then tie the rope in a knot, tucking any excess underneath. Place on the prepared baking sheets, spacing them one inch apart. Cover with clean kitchen towels and let rest in a warm place for about 20 minutes. The knots should be puffy and spring back slowly when touched.

In a large, high-sided pot, combine six cups water and the baking soda. Bring to a boil over high heat. Add three or four pretzel knots and cook, flipping halfway, for about 30 seconds. Using a slotted spoon, return the boiled pretzels to the baking sheet. Repeat with the remaining dough. Brush the tops and sides of each boiled knot with egg yolk and sprinkle generously with everything bagel seasoning.

Bake for 10 to 12 minutes, swapping and rotating the baking sheets halfway through, until the pretzels are baked through and deeply golden brown on top. Transfer to a wire rack and let cool to room temperature. Serve with the honey mustard alongside for dipping.