Preheat the oven to 350 degrees.
Put all the ingredients in the bowl of a stand mixer and combine.
Shape the cookies into small balls and bake for 15 minutes on a parchment lined baking sheet.
While the cookies are cooling, whisk together the sugar and the milk until well combined.
Once the cookies are cooled drizzle the glaze over the cookies or dip them in it.
Note: For a thicker glaze on the cookies, increase the amount of powdered sugar.