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In a large bowl, cream together the softened butter and sugar until light and fluffy.
Add the egg yolks and vanilla extract; mix until well combined.
Gradually stir in the flour mixture until just combined. If the dough is too thick, add 1-2 tablespoons of milk.
Preheat the oven to 350°F (175°C).
Pipe 1½-inch swirls of dough onto a parchment-lined baking sheet.
Bake for 10-12 minutes or until the edges are golden.
Let the cookies cool completely. Dip them in melted chocolate and decorate with sprinkles if desired.
