In a large bowl, sprinkle yeast on top of them milk. Then add the sugar and mix. Wait for 5 minutes. Make sure there are at least small bubbles on the top of the mixture. If not, start over. Now, add 3 cups of flour, baking powder, and salt. Knead until smooth and elastic. Add flour as needed. Let rise for 30 minutes or until doubled in size. Turn out onto a work space and cut into 6 equal pieces. Smoosh one of the pieces down until flat and no big/any air bubbles left. Roll into a 3 feet long strand. Don’t worry if it shrinks some when twisting, that’s why it was rolled to be 3 feet. :) Now take the strand and fold the ends of it over each other, like a pretzel shape, except without the extra twist. Now, twist the ends once to make a traditional pretzel shape! Mix water and baking soda in a plate and dip the pretzel into it. Place wet pretzel onto a baking sheet. Sprinkle on some coarse salt if desired. Let it rise for 20 minutes or until poofy. Meanwhile, preheat the oven to 400 F. Place pretzels into the preheated oven and bake for about 10 minutes. Brush with butter when hot, if desired. Eat and enjoy!