Heat the milk in the microwave for 45 seconds. Mix in 1 tsp sugar and the dry yeast packet. Let it stand for 8-10 minutes. In a separate bowl, mix eggs, melted butter, vanilla, and sugar. Pour in yeast mixture when it is ready and mix. Add in flour and salt. Mix together until a dough has formed. Flour a surface and knead the dough until it is elastic—this should only take a few minutes. Spray down a large bowl with cooking spray and place the shaped dough ball in it. Cover with a dish towel and let it rise in a warm place for 1 1/2 hours. Move dough to a floured surface and roll out with a rolling pin until 1/2-inch thick. Cut out donut shapes with a donut cutter. Move cut donuts (and donut holes!) to a baking sheet lined with parchment paper. Cover with a towel and let it rise for 30 minutes. While the dough is rising again, prep the oil. Pour canola oil into a large pot or Dutch oven and heat. Make sure it’s hot enough (around 350 to 375 degrees). Fry donuts and donut holes on each side for 1-2 minutes on each side. Remove to a cooling rack. Whisk the ingredients together for the glaze in a small bowl. Dip warm donuts in the glaze, then move to parchment paper. If desired, add sprinkles! Then devour.