microwave 1 cup milk of choice for 45 seconds and pour in a stand mixer bowl
sprinkle 1 packet active dry yeast and whisk until bubbles form
add in 1/2 cup granulated sugar + 1/2 cup melted butter + 1 tsp vanilla and whisk
mix in 2 eggs just until combined
add in 4 cups of flour and knead dough until a ball forms
cover and let rise for 1-2 hours or until it doubles in size
punch dough to release air and place on a floured surface
roll out until it is 1/2 inch thick and using a donut cutter, cut out as many donuts as you can
repeat until all dough has been used up
preheat oven to 350F
let donuts rise for 30 min while oven is preheating
bake for 20-23 min or until golden
allow to cool
make glaze: 2 cups powdered sugar + 2 tbsp milk (more or less depending on how thick you want to coat donuts)
dip donuts one at a time and sprinkle with a little sugar