In a small bowl, whisk together the 2 cups powdered sugar, 1/2 teaspoon vanilla extract and milk until smooth.
Use immediately before the icing starts to stiffen. To thin, whisk vigorously.
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Notes
If icing hardens, whisk well, heat for 10-15 seconds in the microwave or add a small dab of milk to loosen. For vegan and dairy-free alternatives, use oat milk, almond milk, coconut milk, or soy milk.