01 - Preheat oven to 350°F. Line two baking sheets with parchment paper.
02 - In a medium bowl, whisk together flour, baking powder, and salt until well combined.
03 - In a large bowl, beat softened butter and granulated sugar until light and fluffy, about 2-3 minutes.
04 - Beat in eggs one at a time, mixing well after each addition. Add vanilla extract, almond extract if using, lemon zest, and orange zest.
05 - Gradually add flour mixture to butter mixture, mixing until just combined. Stir in milk until dough is soft but not sticky.
06 - Scoop tablespoon-sized portions of dough and roll into balls. Shape into rings or knots as desired.
07 - Place cookies 2 inches apart on prepared baking sheets. Bake for 10-12 minutes until lightly golden on bottoms. Cool completely on wire racks.
08 - Whisk together powdered sugar, 2-3 tablespoons milk, and vanilla extract until smooth and pourable. Add more milk if needed for desired consistency.
09 - Dip tops of cooled cookies into glaze, letting excess drip off. Immediately sprinkle with colored sprinkles. Let glaze set completely before serving.