Preheat your oven to 350°F (175°C) and grease a donut pan with non-stick spray.
In a large bowl, whisk together the flour, sugar, baking powder, and salt.
In another bowl, mix the milk, egg, melted butter, and vanilla extract until well combined.
Add the wet ingredients to the dry ingredients and stir until just combined; be careful not to overmix.
Spoon the batter into the donut pan, filling each donut well about 3/4 full.
Bake for 8-10 minutes, or until the donuts are set and spring back when touched. Remove from the oven and let cool in the pan for a few minutes before transferring them to a wire rack to cool completely.
To make the glaze, whisk together the powdered sugar, milk, and vanilla extract in a small bowl until smooth. Adjust the consistency with more milk or powdered sugar if necessary.
Once the donuts are completely cool, dip the top of each donut into the glaze, then return them to the wire rack and top with sprinkles if using. Allow the glaze to set before serving.
ADVERTISEMENT
