Preheat your oven to 400°F and grease a donut pan.
Mix all of the dry ingredient in one bowl. Add flour, white sugar, baking powder & salt and mix until well blended.
In a separate bowl add all of the wet ingredients. Add milk, butter, eggs & vanilla extract. Whisk together for 1-2 minutes.
Slowly pour the wet bowl into the dry bowl while mixing to create a smooth batter.
Next is the tricky part... I use a large Ziploc bag (gallon size), using a ladle or large spoon, fill the bag with batter. Cut a small section of the corner of the bag to make a DIY pastry bag. Fill donut pan, slowly, do not overfill.
Bake for 8-10 minutes depending on your oven, check often, do not over cook
Glaze Time - Put powdered sugar in a bowl and slowly introduce the milk until you reach your desired consistency, then add vanilla extract and whisk.
When the donuts are cool you can dunk one side into the glaze or drop them in and coat the entire donut.
Place glazed donut on foil or parchment paper to dry for easy cleanup. The glaze will harden over the next 15-20 minutes or eat them while they are dripping and gooey.