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Work quickly when you are incorporating the flour and milk.
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You do not want to wait until each addition is fully mixed. I usually add the flour, give it literally 2 seconds, then add the milk, and repeat after 2 seconds.
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For the last addition of the flour and milk, I usually mix by hand, in order to avoid over beating.
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Spoon into greased cupcake pan, and bake for 18-20 minutes.
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Cool completely before removing.
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Mix all ingredients in an electric mixer on medium until combined.
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Once completely combined, increase your mixer speed to high and mix for about 3-5 until smooth. Pipe or frost cupcakes and decorate if desired.