Preheat the oven to 350ºF and prepare a large baking sheet with parchment paper.
Zest the lemon and use your hands to massage the zest into the granulated sugar. This will release the oils and add even more lemon flavour.
In a large mixing bowl, whisk together the melted butter and sugar until smooth. Beat in the eggs, milk, vanilla extract, and juice of 1 lemon (about 2 tablespoon lemon juice). Whisk until smooth.
Place the gluten-free flour, baking powder, and salt in the same bowl. Use a rubber spatula to lightly stir the dry ingredients together on top, then fold into the wet ingredients until you have a smooth, thick dough.
If you plan to make these into lemon knot cookies: Add an extra 2-4 tablespoons of flour so the dough is less sticky and easier to roll.
Use a 1 tablespoon cookie scoop to scoop the dough into balls. Use your hands to roll them smooth. Place on the prepared cookie sheet with a little space between cookies.
If making lemon knot cookies: Scoop 1 tablespoon of dough, then use your hands to roll it into a log about 5 inches long. Swirl one end into the middle, then overlap the other end on top of it. See photos within the blog post for a visual. Place on the prepared cookie sheet.
Bake cookies for 10-12 minutes. They really won't have any colour when they're done, but the bottoms should be lightly golden. Allow to cool on the cookie sheet for 15 minutes, then remove to a wire rack.
While the cookies cool, stir together the glaze ingredients in a small bowl. Once the cookies are cooled, dip the tops in the glaze and place back on a baking sheet. Top immediately with lemon zest or sprinkles. Allow the glaze to set for 30 minutes then enjoy!