Preheat your oven to 350°F (175°C).
In a mixing bowl, cream together the butter and sugar until light and fluffy.
Add the vanilla extract and mix well.
In another bowl, whisk together the flour, baking powder, and salt.
Gradually add the dry ingredients to the wet ingredients, mixing until combined.
Add the milk and mix until the dough comes together.
Roll out the dough on a floured surface to about ¼ inch thickness.
Use animal-shaped cookie cutters to cut out shapes and place them on a baking sheet.
Bake for 8-10 minutes or until the edges are lightly golden.
Let the cookies cool on a wire rack before serving.