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In a large bowl (or that of an electric mixer if using one), combine warm milk, sugar, and yeast. Stir until well blended. This is to proof the yeast. Let it sit for some minutes until foam forms on the surface, then you know that your yeast is activated.
Add the butter, egg and flour and mix using a wooden spoon (or beat with the dough hook attachment) for 2 minutes on medium speed. Add the rest of ingredients and mix for another 1-2 minutes.
Dump dough on the counter and knead for about 3-5 minutes, adding flour or milk if needed. Do not overflow. If still too sticky, just go on kneading without adding any more flour and it will become less sticky eventually. It should be soft, smooth and only slightly sticky.
Form into a ball and place in a greased bowl and cover with cloth or towel and let rise for an hour or until it has doubled its size.
Punch down the dough and roll it out on a floured counter up to about half an inch thick. Cut out circles using a doughnut or round cookie cutter. Transfer the cut doughnuts into the baking sheet lined with parchment paper. Cover the tray and let them rise the second time for about 45 minutes. You can cut smaller circles from the leftover dough and bake them with the holes as is or roll them all together one more time to make more doughnuts.
Bake the doughnuts at 375°F/180°C for 8-10 minutes. The bottom should only be slightly browned while the top is still pale. This makes it chewier.
While doughnuts are baking, prepare the dip frosting. Combine the chocolate and cream in a small bowl. Heat in the microwave for 10 seconds and then stir until the chocolate melts completely. Heat for another 5-10 seconds if not warm enough but not more. Follow same for white chocolate, but only add the powdered sugar and milk after melting the white chocolate in the cream.
Once the doughnuts and dips have cooled down to room temperature, dip the top half of the doughnut in the frosting then put them back in a tray as they might drip a bit. Design or top with whatever or however you fancy but be quick before the frosting starts to set.