  Brezis and Mironescu have announced several years ago that for a compact
manifold $N^n \subset \mathbb{R}^\nu$ and for real numbers $0 < s < 1$ and $1
\le p < \infty$ the class $C^\infty(\overline{Q}^m; N^n)$ of smooth maps on the
cube with values into $N^n$ is dense with respect to the strong topology in the
Sobolev space $W^{s, p}(Q^m; N^n)$ when the homotopy group $\pi_{\lfloor sp
\rfloor}(N^n)$ of order $\lfloor sp \rfloor$ is trivial. The proof of this
beautiful result is long and rather involved. Under the additional assumption
that $N^n$ is $\lfloor sp \rfloor$ simply connected, we give a shorter proof of
their result. Our proof for $sp \ge 1$ is based on the existence of a
retraction of $\mathbb{R}^\nu$ onto $N^n$ except for a small subset in the
complement of $N^n$ and on the Gagliardo-Nirenberg interpolation inequality for
maps in $W^{1, q} \cap L^\infty$. In contrast, the case $sp < 1$ relies on the
density of step functions on cubes in $W^{s, p}$.
