Preheat oven to 350°F. Line two baking sheets with silicone baking mats or baking parchment.

In a medium bowl, whisk together flour, baking soda, salt, and caraway seeds. Set aside.

Place butter in the bowl of a stand mixer fitted with the paddle attachment and cream on medium until smooth and glossy, about 1 minute. With the mixer still on medium, slowly add sugar and beat until pale and fluffy, about 5 minutes.

Add flour mixture and milk in two additions, alternating between the flour and the milk. Mix on low until just combined.

For ease of shaping cookies, transfer to a pipping bag fitted with a 3/8-inch tip. Pipe rounded teaspoons on prepared sheets, leaving 2 inches of space between cookies. (Or drop batter by rounded teaspoons on the baking sheets.)

Bake until golden brown, rotating front to back and top to bottom halfway through, about 20 minutes.

Cool on sheets for 5 minutes before transferring to a rack to cool completely.