Bake for 10-13 minutes or until puffy and golden brown. Let cool for about 10-15 minutes before glazing.
To prepare the glaze: mix all ingredients together in a small bowl until desired consistency is reached. Add more or less milk and/or powdered sugar depending on how thick or thin you want the glaze.
NOTES
I used heavy cream so I needed closer to 2 tablespoons of milk because of the higher fat content, so the milk is thicker. If you use fat-free milk or 1%, you will probably only need about 1 tablespoon because the fat content is lower and the milk is thinner. Regardless of what milk you use, start with 1 tablespoon and work from there.
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