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Mix the flour, sugar, yeast*, and salt together in a standing mixer fitted with a dough hook.
In a measuring jug, heat together the milk and butter until the butter has melted. Stir in the vanilla.
Turn the machine on low and slowly add the milk mixture until your dough comes together to form a ball. If your dough is a little dry add a splash more milk.
Increase the speed to medium and mix until the dough is shiny and smooth, 6-8 minutes. The dough is supposed to be saggy.
Rub your mixing bowl with vegetable oil (or any flavorless oil) . Place the dough in the bowl and turn to coat lightly.
Cover the bowl with plastic wrap tightly and let the dough rise until doubled, roughly 2 hours.
Once it has risen, turn out the fluffy dough onto a floured work surface. Roll out to ½ inch thick
Using a 3 inch round cutter, cut off your donuts circles. Dust your cutter in flour so it doesn’t stick to the dough. Then cut out the donut holes with a much smaller cutter. Re-roll and cut any leftover dough. You will get 12-14 donuts. TIP: You can prepare the donuts to this stage and put them in the refrigerator until the next day. When needed, take out and let me come to room temp and rise a little (roughly 30 minutes) and then fry off as instructed below.
Cover your donuts with cling film and let them rise at room temperature for 20-30 minutes.
Pour around 2-3 inches of oil into a medium, deep pan.
Heat the oil over medium/high heat for a few minutes to heat up. If using a thermometer bring to 350oF (180oC).
When your oil is hot, drop 3-4 doughnuts at a time in the oil. Fry for about 2 to 3 minutes, until lightly browned on one side, then flip and fry until the other side is browned. Set aside on kitchen paper until you have cooked them all off.
Dunk the donuts while fresh and warm into the chocolate glaze one by one. Let the excess glaze drip off before placing on a wire rack to dry. Lastly, add some sprinkles on top.
Once the glaze dries I strongly urge you to eat them as fresh as possible because they are at their absolute best!
* Some Active Dry yeast will need to be sponged. This means stiring the yeast into the liquids to dissolve it/sponge it before adding to the flour. Some Fast Acting Dry Yeast can be added to the flour, check the pack.