Preheat oven to 400. In the bowl of a stand mixer or a large mixing bowl, combine warm water, sugar, and yeast. Let sit five minutes or until yeast is bubbly.
Add flour and salt, and mix until a smooth dough forms. Let rise for 10 minutes.
Roll out dough on a surface lightly sprinkled with flour to about 1/4 inch thick.
Spread dough with melted butter, and sprinkle with cinnamon and sugar.
Fold dough over onto itself, with the cinnamon-sugar mixture in the middle.
Using a pizza cutter, cut into 1 inch wide strips.
Twist each piece, then place on a lightly greased baking sheet. Let rest for 10 minutes.
Bake 12-15 minutes, or until lightly browned.
While the bread twists are baking, whisk together the powdered sugar and cinnamon, then add milk until the glaze reaches your desired consistency.
Let the bread twists cool for about five minutes, then drizzle with glaze. Enjoy warm.