In a large bowl, cream butter and sugar until light and fluffy. Add 1 egg at a time, beating well after each addition. Add vanilla. Combine the flour, baking powder and salt; gradually add to creamed mixture and mix well.

Turn onto a lightly floured surface, knead 10-12 times or until smooth. Divide dough into 8 portions. Shape each portion into a 24-in. log. Cut logs into 2-in. pieces.

Place sesame seeds and milk in separate shallow bowls. Brush pieces with milk, then roll in sesame seeds. Place 2-in. apart on greased baking sheets. Bake at 350° until set and bottoms are lightly browned, 7-9 minutes. Cool for 2 minutes before removing from pans to wire racks.