Preheat oven to 350°F. Prepare your baking sheets with parchment paper.
In a medium bowl, combine flour, pudding mix, baking soda, and salt. Whisk to combine.
In a stand mixer with a paddle attachment or you can use a hand mixer, beat on medium high speed the butter and sugars until light and fluffy, about 2 to 3 minutes.
Beat in the egg and egg yolk, until combined. Add the vanilla and milk and mix until combined.
Stir in the flour mixture with the mixer running on low until just combined. Do not overmix. Stir in the chocolate chips with a spatula or wooden spoon.
Using a small cookie scoop, scoop the cookie dough into balls and place onto your prepared cookie sheets, spaced 2 inches apart. Bake for 10 to 12 minutes until edges are set, and tops are puffy but dry. Remove from the ovne. Allow to cool on a baking rack for 5 minutes, then transfer to a wire rack to cool completely.