Preheat your oven to 350°F (175°C) and line two baking sheets with parchment paper.
In a large mixing bowl, whisk together flour, baking soda, salt, and ground cinnamon until well combined. Set aside.
In another bowl, beat the softened butter, granulated sugar, and brown sugar together until creamy and fluffy using an electric mixer (about 2-3 minutes).
Add the eggs one at a time, beating well after each addition, then mix in the vanilla extract.
Gradually add the dry ingredients to the wet mixture, stirring until just combined. If you're using nuts, fold in the chopped pecans or walnuts.
Using a cookie scoop or your hands, form dough balls (about 1.5 inches in diameter) and place them on the prepared baking sheets, leaving about 2 inches of space between each cookie.
Bake in the preheated oven for 10-12 minutes or until the edges are lightly golden. The cookies will spread slightly.
Remove from the oven and let the cookies cool on the baking sheets for 5 minutes before transferring them to a wire rack to cool completely.
To make the glaze, whisk together the powdered sugar, milk, and vanilla extract in a small bowl until smooth.
Once the cookies are cool, drizzle the glaze over the tops using a spoon or by placing the glaze in a piping bag for more precision.
Notes
Arrange the cookies on a decorative plate and garnish with a light dusting of cinnamon or a few extra chopped nuts for visual appeal. Enjoy them with a cup of coffee or tea for a delightful treat!