Preheat oven to 375 degrees. Line baking sheet with parchment paper
In a large mixer bowl sift the dry ingredient together until there are no lumps
Add the butter and vanilla. Beat on low 10 seconds or until the dry ingredients have been moistened. Increase speed to medium and beat 30 seconds or until fully combined
Scrape down the sides of the bowl. Add the milk and beat on medium another 30 seconds or until fully combined and soft dough has formed
Scrape down the sides of the bowl and form it into a ball. Massage the dough about 30 seconds to test the texture of the dough. If the dough does not come together smoothly add warm water 1 tablespoon at a time until the dough forms a smooth ball.
Pipe dough or scoop 1 TBS at a time onto prepared baking sheet. Form cookies into desired shape, size and thickness
Place in preheated oven and bake 5-7 minutes or until golden
Remove from the oven. Allow to cool on pan 10 minutes or until firm. Transfer to a wire rack and allow to cool completely
Sprinkle with powdered sweetener or icing if desired. Store leftovers in an airtight container at room temperature up to 1 week