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Whisk the warm milk, yeast, and sugar together in the bowl of your stand mixer fitted with a dough hook or paddle attachment. Cover and allow to sit for 5 minutes. The mixture should be a little frothy on top after 5 minutes. If not, start over with new yeast.
Add the eggs, butter, vanilla, nutmeg, salt, and 2 cups (245g) flour. Beat on low speed for 1 minute. Scrape down the sides of the bowl with a rubber spatula as needed. Add remaining flour and beat on medium speed until the dough comes together and pulls away from the sides of the bowl, about 2 minutes. If needed, add more flour, 1 Tablespoon at a time, until the dough pulls away from the sides of the bowl. Don’t add too much flour, though. You want a slightly sticky dough. *If you do not own a mixer, you can mix this dough with a large wooden spoon or rubber spatula. It will take a bit of arm muscle!*
Keep the dough in the mixer and beat for an additional 2 minutes or knead by hand on a lightly floured surface for 2 minutes.
Lightly grease a large bowl with oil or nonstick spray. Place the dough in the bowl, turning it to coat all sides in the oil. Cover the bowl with aluminum foil, plastic wrap, or a clean kitchen towel. Allow the dough to rise in a relatively warm environment for 1.5-2 hours or until double in size. (For a tiny reduction in rise time, see my answer to Where Should Dough Rise? in my Baking with Yeast Guide.)
When the dough is ready, punch it down to release the air. Remove dough from the bowl and turn it out onto a lightly floured surface. If needed, punch down again to release any more air bubbles. Using a rolling pin, roll the dough out until it is 1/2 inch thick. Using a 3-3.5 inch doughnut cutter, cut into 12 doughnuts. If you can’t quite get 12, re-roll the scraps and cut more.
Line 1 or 2 baking sheets with parchment paper or silicone baking mats. Place doughnuts and doughnut holes on each. (Feel free to discard doughnut holes if you don’t want to make them.) Loosely cover and allow to rest as you heat the oil. They will rise a bit as they rest. Place a cooling rack over another baking sheet.
Pour oil into a large heavy-duty pot set over medium heat. Heat oil to 375°F (191°C). Add 2-3 doughnuts at a time and cook for 1 minute on each side. Carefully remove with a metal spatula or metal slotted spoon. Wear kitchen gloves if oil is splashing. Place fried doughnuts onto prepared cooling rack. Repeat with remaining doughnuts, then turn off heat.* (See note for doughnut holes.)
In a small saucepan over low heat, melt the butter and maple syrup together, whisking occasionally. Once the butter has melted, remove from heat and whisk in the sifted confectioners’ sugar, salt, and maple extract. Dip each warm doughnut into the icing. The icing quickly thickens, so feel free to place it back over heat as you dip the doughnuts. Place dipped doughnuts back onto cooling rack as excess icing drips down. Gently press bacon slices on top of each. (You can also crumble/chop up the bacon for topping.) After about 30 minutes, the glaze will set + harden.
Doughnuts are best enjoyed the same day. You can store in an airtight container at room temperature or in the refrigerator for 1-2 extra days.