After the butter has softened to room temperature, put it in a small mixing bowl. Add milk. Whip with a hand mixer on low speed for 1 to 2 minutes. Increase the speed to high speed, and mix for an additional 2 to 4 minutes until the butter is light and creamy. Serve on bread, waffles, or steak. Or use to rub over a chicken before roasting, and enjoy!