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, cream the butter and sugar until light and fluffy, about 2-3 minutes.
04 - Beat in eggs one at a time, then add vanilla extract, almond extract if using, and citrus zests.
05 - Gradually add the flour mixture, mixing until just combined. Add milk and mix until dough is soft but not sticky.
06 - Scoop tablespoon-sized portions of dough and roll into balls or ropes; form into rings or knots as desired.
07 - Place cookies on prepared baking sheets, spacing about 2 inches apart to allow for spreading.
08 - Bake for 10-12 minutes until just lightly golden on the bottoms. Cool completely on wire racks.
09 - Whisk together powdered sugar, 2-3 tablespoons milk, and vanilla extract until smooth and pourable.
10 - Dip cooled cookies into the glaze, letting excess drip off, then sprinkle with colored sprinkles. Allow glaze to set before serving.