• Preheat the oven to 350°F. Line a large baking sheet with parchment paper.
• In a large bowl using a hand mixer on medium speed, cream together the butter and sugar until the mixture is light and fluffy.
• Add the egg yolks and vanilla. Mix until well combined.
• In a separate bowl, whisk together the flour, pumpkin pie spice, and salt.
• Slowly add the dry flour mixture to the butter mixture. Mix on low until fully combined, scraping down the sides of the bowl as needed.
• Working 1 tablespoon at a time, add milk until the mixture is sticky, thick, and well combined.
• Using a 2-tablespoon scoop, add dough to the lined baking sheet, leaving about 1 inch between each cookie. Using your hand, flatten each cookie to about ½-inch thickness.
• Bake 13-15 minutes or until golden brown.
• Allow the cookies to cool on the baking sheet for 10 minutes before transferring to a cooling rack. Let the cookies cool completely before dipping them into the glaze.

Glaze

• In a medium bowl, whisk together the confectioners' sugar, pumpkin pie spice, and 1 tablespoon of milk. Add more milk as needed until the glaze reaches your desired consistency.
• Dip each cookie into the glaze, coating half of each cookie.
• Let the glaze set before serving.