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Preheat the oven to 350 degrees F and coat a donut pan with nonstick spray.
Add the flour, sugar, baking powder, and salt to a medium bowl and stir to combine.
Add the yogurt, butter, egg, and vanilla extract. Stir gently. Fold in the raspberries and lemon peel and stir gently to just combine. (This batter is thick and it may look too thick, but keep gently stirring to bring it together.
Portion out into the donut pan, dividing the batter among each of the 6 rounds and spreading so the batter is somewhat evenly distributed.
Bake for 14-16 minutes or until a cake tester inserted into the center comes out cleanly.
Remove from the oven and let cool in the pan for 2 minutes. Run a paring knife around the edges of each doughnut and carefully flip onto a wire rack to cool fully.
Optional frosting: Stir together the yogurt and powdered sugar in a bowl. Spoon into a zip top plastic bag. Seal and cut off one of the bottom corners to make a piping bag. Drizzle over the donuts and add sprinkles.