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1. With an electric mixer at low speed, mix the powdered sugar and butter together. Once combined, add vanilla and milk. Increase speed of mixer to medium and beat for 1 to 2 minutes or until smooth and of spreading consistency.
2. To frost a cake, first brush away any loose crumbs from cooled cake. If frosting layers, place the bottom layer rounded side down on a plate. Spread about 1/3 cup of frosting to with 1/2-inch of cake's edge. Place the top layer rounded side up. Coat the side of the cake first with a thin layer of frosting to seal in the crumbs, then frost the side making a rim about 1/4-inch high around the top. Finally, spread remaining frosting on top, just to the frosting-made rim.