In a bowl, beat the egg yolks, sugar, milk,butter, and vanilla

In another bowl, combine the flour, baking powder, and salt.

Add the flour mixture to the egg yolks.

In another bowl, beat the egg whites until stiff peaks form.

Gently fold the two mixtures together.

Heat pan over medium heat until a drop of water sizzles when it's placed on it.

Brush pan with butter ans spoon batter into each cavity.

Rotate batter after about 30 seconds using a chopstick or skewer.

Dip in glaze and serve.

For Glaze:

Combine all ingredients until smooth.

More milk may be added for desired consistency.