Wait, are you using a GLAZE (ie: Toba's Glace- corn syrup based) or Royal Icing (ie Antonia's- meringue based). If you're using Royal, then yes 20 minutes (or more if you're in a humid environment) is fine. HOWEVER, if you're using a glace, then you need to wait more like 8-12 hours!! It takes waaaaay longer to set up!!!
I only use glaze. I pretty much do what misabel99 does. I've rarely had a problem with the colors bleeding, especially when you add brite white to the icing before dividing it and coloring. I try to work with the colors first that don't touch another color, and I prefer to work lightest to darkest. Good luck!
gemini, what recipe glaze do you use then?
I've been playing with the recipe a bit, as I've started adding extracts. This is what I'm using:
3 cups powdered sugar, sifted
3 Tablespoons skimmilk (you can use other type milk, or water)
3 Tablespoons corn syrup
1/2 tsp. clear vanilla or almond
15 drops brite white food color (I use Americolor)
Mix together the first four ingredients until fully combined. Add the brite white and mix. You want the icing to be the consistency of white school glue, so adjust it at this time. For thinner icing, add more corn syrup, and for thicker icing, add more powdered sugar. Divide and color.
Note: I'm finding that if I add more cornsyrup than milk, the icing has a better finish when it dries. I stay pretty close to the recipe, but have started to play with this more. If you stay with the proportions, you can mix up as little, or as much, icing as you need.
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