In the bowl of a stand mixer fitted with a dough hook attachment, dissolve yeast in warm water. Let stand 5 minutes until foamy, then whisk in honey and salt. With mixer running on medium speed, add flour 1 cup at a time until dough pulls away from sides of bowl, adding additional flour if needed to form a soft consistency.
With mixer running on medium, knead dough 4-5 minutes or until smooth and elastic. (OR if not using a mixer, knead with hands on a floured surface 4-5 minutes) Place dough in a greased bowl, turning once to grease top. Cover bowl with plastic wrap and let rise in a warm place, 1 hour or until doubled in size.
Punch risen dough down and divide into 12 equal pieces. Roll each portion into a 12-in rope. Use a bench scraper or a sharp knife to cut ropes into 2-in pretzel bites. Place pretzel bites on two parchment paper-lined baking sheets. Cover with plastic wrap and let rise 15-30 minutes.
Meanwhile, in a large saucepan, bring 6 cups water to a low boil over medium-high heat. Dissolve baking soda into water. Working 6-8 at a time, carefully place pretzel bites in boiling water and boil 30 seconds on each side, flipping once. Transfer back to baking sheets and repeat boiling with remaining bites.
Brush pretzel bites with egg yolk mixture. Bake pretzels in a preheated 450F oven 10-12 minutes until pretzels are a deep golden brown. Remove from oven and immediately brush bites with pesto and sprinkle with grated Parmesan. Broil under high heat 1-2 minutes or until Parmesan is browned and melted. Enjoy pretzel bites warm!