Preheat your oven to 350°F (175°C) and line your baking sheets with parchment paper.

In a large mixing bowl, combine the softened unsalted butter and granulated sugar. Beat until light and fluffy, about 3 to 5 minutes.

Add the egg yolks and vanilla extract. Mix on low until fully combined.

Gradually add the all-purpose flour and salt to the mixture, stopping as soon as dry flour is no longer visible.

Slowly incorporate the milk, adding one teaspoon at a time until you achieve a sticky, thick dough.

Transfer the dough into a piping bag fitted with a large star tip and pipe the dough into circular swirls on the prepared sheets.

Bake for 13 to 15 minutes or until edges are lightly golden brown.

Allow the cookies to cool on the baking sheets for about 5 minutes, then transfer to a wire rack to cool completely.