In a medium mixing bowl, combine 2 cups of powdered sugar, 1/2 teaspoon of vanilla extract, and 2 tablespoons of milk. Whisk until smooth and free of lumps, about 1-2 minutes.

If the icing appears too thick, gradually add more milk, one teaspoon at a time, whisking thoroughly until you achieve your desired consistency.

Once your icing is at the right consistency, use a spoon or small spatula to spread the icing over your cooled cookies or cakes.

Cover any leftover icing with plastic wrap to prevent hardening. Store in an airtight container at room temperature for up to 3 days.