Vanilla-Glazed Baked Donuts is an easy recipe to give you familiar, old-fashioned dessert without all the hassle of rolling, cutting, and frying the dough. These donuts will remind you just how delicious breakfast can be!
Spray a donut pan with nonstick cooking spray; set aside for later.
In a large mixing bowl, whisk together the flour, sugar, baking powder & salt.
In a small bowl, whisk together egg, whole milk, butter and vanilla extract.
Slowly combine the wet ingredients with the dry ingredients and stir together until no flour lumps and all the ingredients are well combined. Don't over-mix the batter or you'll have tough dough.
Spoon the batter into the donut pan or use a large ziplock bag. Cut a corner off the bottom of the bag and pipe the batter into each donut cavity, filling about ¾ of the way full.
Bake for 8 -10 minutes or until toothpick inserted into the center of a donut comes out clean.
Remove from the oven and transfer the donuts onto a wire rack until cool enough to handle but still warm.
Glaze:
In a medium bowl whisk together the powdered sugar, vanilla and salt.
Add 1 tablespoon of milk at a time, whisk to combine. If the glaze is too thick, add additional milk, ½ teaspoon at a time until the desired consistency is reached.
Add food coloring (optional).
Assembly:
Dip the somewhat warm donuts in the vanilla glaze, return to the wire rack, and immediately top with sprinkles.
Allow glaze to set at room temperature for about 30 minutes before stacking or serving. Enjoy!