Step 1

Preheat oven to 350 F. Line 2 large half sheet baking pans with parchment paper or a silicone baking mat. Set aside,

Step 2

In a stand mixer with the paddle attachment on medium speed (or a large mixing bowl with a hand mixer), cream together butter, sugar, and salt until light and fluffy, about 2 minutes.

Step 3

Add in egg yolks and vanilla and mix until combined.

Step 4

Add flour and mix until combined and a dough starts to form. Add in milk and combine until incorporated.

Step 5

Transfer the dough into a large piping bag with large open star tip attached (I used Ateco 826). In a circular motion, starting at the middle, pipe a round circle onto the lined baking sheet. Fill up the baking sheet, spacing the cookies about inches apart. Place in the refrigerator while the oven preheats.

Step 6

Bake for 14-16 minutes until the edges start to brown. Allow the cookies to cool in the pan for 5 minutes, then transfer to a wire cooling rack to cool completely.

Step 7

You can serve as is, or dip them into melted chocolate and add sprinkles on top.