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Scald milk: Pour milk into a small saucepan over medium/low heat, stirring constantly to prevent film from forming. Once milk reaches 180˚F, or you see milk steaming, remove from heat and transfer to a measuring cup to cool to 115˚F on a thermometer.
Proof dough: In a large mixing bowl, add 1 cup flour, 1/4 cup sugar, 1 packet yeast and 1/4 tsp salt, and whisk to combine. Add 2/3 cup warm milk, whisk in 1/4 cup oil, 2 egg yolks, and 1/2 tsp vanilla extract and whisk to combine. Cover with plastic wrap and let rest at room temperature 10-15 minutes or until some bubbles form on the surface (this indicates your yeast is active).
Knead: Use a firm spatula to mix in most of the remaining 1 1/2 cups flour, adding just enough flour until dough holds together and no longer sticks to the sides of the bowl (add the last 2 Tbsp flour only if needed). Kead the dough in the bowl by hand for 5 minutes. If dough is really sticking to your hands, dust lightly with flour then continue kneading. Dough should be soft and slightly sticky.
Let dough rise: Cover bowl with plastic wrap and set in a warm 100˚F oven for 45 min or at room temp for 1.5 to 2 hours until doubled in size.
Roll and cut donuts: Turn dough out onto a floured surface. Roll dough with a rolling pin to 1/4” to 1/3” thick and use a donut cutter to make 11-12 donuts and donut holes. Gently press together scraps and re-roll to get another donut if desired.
Let donuts rise: Place donuts and donut holes on a parchment lined baking sheet, with just enough space so they are not touching. Cover with a tea towel and let donuts rise again in a warm place for 20 minutes or at room temperature for 45 minutes until puffed.
Make glaze: combine all glaze ingredients in a bowl and stir together until sugar is dissolved then set aside.
Fry Donuts: In a dutch oven with clip on thermometer or in a deep fryer, Heat oil to 375˚F. Once donuts have puffed, fry 2 donuts at a time for 45 to 60 seconds per side until golden on each side, flipping once.
Glaze donuts: Remove donuts from the oil one at a time and Immediately dip both sides in glaze then transfer to a wire rack.
Fry donut holes: Fry and glaze the donut holes in 2 batches. Serve donuts as soon as the glaze is set.