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 blended.
03 - In a large bowl, beat butter and sugar until light and fluffy, approximately 3 minutes.
04 - Add eggs one at a time, beating well after each addition. Mix in vanilla extract and lemon zest.
05 - Gradually add dry ingredients to wet mixture, alternating with milk. Mix until soft dough forms.
06 - Scoop tablespoon-sized pieces of dough and roll into 4-inch logs. Shape each log into a ring and pinch ends to seal.
07 - Place rings on prepared baking sheets, spacing 2 inches apart. Bake 12-15 minutes until bottoms are lightly golden.
08 - Let cookies cool completely on a wire rack before icing.
09 - Whisk powdered sugar, milk, and vanilla until smooth and slightly thick.
10 - Dip top of each cooled cookie into icing, then sprinkle with colored sprinkles. Allow icing to set before serving.