Preheat the oven to 350 degrees Fahrenheit and prepare a baking sheet lined with parchment paper.

In a large bowl or stand mixer, mix the softened butter and granulated sugar on medium-low speed until light and fluffy.

Add the vanilla extract and mix until combined.

Gradually add the all-purpose flour and salt, mixing on low speed until just combined.

If the dough seems too thick, add milk one tablespoon at a time until piping consistency is reached.

Transfer the dough into a piping bag and pipe small circles onto the prepared baking sheet.

Chill the baking sheets in the refrigerator for at least 20-30 minutes.

Bake in the preheated oven for 10-12 minutes or until the edges are lightly golden.

Remove from the oven and allow them to cool completely on a wire rack before serving.