Preheat the oven to 350°F (175°C). Line two baking sheets with parchment paper.
In a medium bowl, whisk together the all-purpose flour, baking soda, baking powder, and salt. Set aside.
In a large bowl, using an electric mixer, beat the softened butter and granulated sugar together on medium speed until creamy and smooth, about 2-3 minutes.
Add the egg and vanilla extract to the butter and sugar mixture. Beat until fully combined.
Gradually add the dry ingredients to the wet ingredients, alternating with the whole milk, beginning and ending with the dry ingredients. Mix until just combined. Do not overmix.
Using a tablespoon or cookie scoop, drop rounded dough balls onto the prepared baking sheets, spacing them about 2 inches apart.
Bake in the preheated oven for 9-11 minutes, or until the edges are lightly golden but the centers remain soft.
Remove from the oven and allow the cookies to cool on the baking sheet for 5 minutes before transferring them to a wire rack to cool completely.