Line a few baking sheets with parchment and heat oven to 350.
In the bowl of a stand mixer, cream the butter and sugar on medium until fluffy, scraping down the bowl a few times.
Add the vanilla and almond and mix well. Add the room temp egg and salt and mix until combined and light and fluffy, scraping the bowl as needed.
Add the flour and mix on low until combined. Add the milk and mix until well combined. The dough needs to be pipeable but not too runny. If you aren't sure, spoon a little into your piping bag and test it out and then adjust. The dough should be stiff enough to hold its shape completely, but shouldn't break apart when you are piping.
Pipe circles or lines onto parchment lined sheets. Bake for 11-13 minutes until just turning brown at the edges and fully cooked on top. Don't overbake.
Cool on a rack until fully cool then dip 1/2 in chocolate and decorate if you like.