Activate the yeast by combining the warm milk and yeast in a small bowl, then let it sit for about 5–10 minutes until frothy.

In a large mixing bowl, whisk together the flour, sugar, and salt.

Create a well in the center of the dry ingredients and pour in the yeast mixture and softened butter. Mix until a dough begins to form.

Transfer the dough onto a lightly floured surface and knead for 8–10 minutes, or until it’s smooth and elastic.

Place the dough into a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for about 1 hour, or until doubled in size.

Once risen, punch down the dough to release the gas, then roll it into a rectangle about 1/2-inch thick.

Cut the dough into triangles with a base of about 4 inches.

Starting from the base of each triangle, roll it up towards the tip to form a crescent shape and place each croissant on a baking sheet lined with parchment paper.

Cover with a towel and let them rise for about 30 minutes until puffed.

Preheat your oven to 375°F (190°C) while the croissants are rising.

Whisk the egg until frothy and brush it over each croissant for a golden finish.

Bake in the preheated oven for 15–20 minutes or until they’re golden brown.

While the croissants are baking, whisk together the powdered sugar, milk, and vanilla extract until smooth.

Once baked, let the croissants cool for a few minutes before drizzling with the glaze and serve warm.