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Beat the butter with the icing sugar, a pinch of salt and the lemon zest until a smooth.
Sift in the flour and add the milk, mix to a dough and then knead briefly. Wrap and chill for 1-2 hours.
Heat the oven to 200C/fan 180C/gas 6. Line 2 baking sheets with baking parchment. Roll the dough out on a floured worksurface to 2mm and cut out different shapes. Arrange the biscuits on the baking sheets, grouping all the same sizes together. Bake for 10-12 minutes until golden, then cool completely.
Melt the chocolate in a microwave or in a bowl set over simmering water. Dip one side of each cookie into the chocolate and leave to cool and set.