In a large mixing bowl, cream the softened butter and sugar together until the mixture is light and fluffy. Incorporate the eggs and extract, mixing until well combined. Gradually add the flour and baking powder, blending until the mixture is fully incorporated.

Using a rounded teaspoon, drop the dough onto ungreased baking sheets. Bake in a preheated oven at 350°F for 9 to 11 minutes, or until the bottoms of the cookies are lightly browned. Once baked, transfer the cookies to wire racks to cool completely.

To prepare the icing, combine the confectioners' sugar, vanilla extract, and sufficient milk in a small bowl to achieve your desired consistency. Dip each cookie into the icing, allowing any excess to drip off. Place the iced cookies on waxed paper and decorate as desired. Let the cookies stand until the icing is set.