Step 1

First, preheat your oven to 350°F (175°C). Lightly grease a donut pan with non-stick cooking spray.

Step 2

In a large mixing bowl, whisk together the flour, sugar, baking powder, and salt.

Step 3

In a separate bowl, whisk together the milk, eggs, melted butter, and vanilla extract until well combined.

Step 4

Pour the wet ingredients into the dry ingredients and stir until just combined. Be careful not to overmix.

Step 5

Spoon the batter into a piping bag or a resealable plastic bag with the corner snipped off. Pipe the batter into the prepared donut pan, filling each cavity about 2/3 full.

Step 6

Bake the donuts for 12 to 15 minutes, or until they are lightly golden and a toothpick inserted into the center comes out clean.

Step 7

Remove the donuts from the oven and let them cool in the pan for a few minutes. Then transfer them to a wire rack to cool completely.

Step 8

For the glaze, whisk together the powdered sugar, milk, and vanilla extract in a small bowl until smooth and well combined. Add more milk if needed to achieve your desired consistency.

Step 9

If desired, add food coloring to the glaze for different colored donuts. Dip the cooled donuts into the glaze, allowing any excess to drip off.

Step 10

If desired, add sprinkles or other toppings to the glazed donuts.

Step 11

Let the glaze set for a few minutes before serving.

Step 12

Finally, enjoy the freshly baked and glazed donuts!