Preheat the oven to 350F.
Grease the donut pan or prepare your own pan like I’ve explained above.
Mix together the flour, baking powder, salt and sugar in a bowl.
In a separate bowl, combine the eggs, milk, vanilla extract and butter. Whisk well.
Pour the wet ingredients over the dry ones. Use a whisker to mix just until you have no more lumps.
Take a piping bag or a ziplock bag and transfer the batter inside. If using a ziplock bag, cut a corner. Pipe the batter onto the donut holes, filling up to ¾.
Transfer the pan to the oven and cook for 9-10 minutes. If you believe they are not done, leave the pan inside for 1 or 2 minutes more.
Take the pan out of the oven. Remove the donuts and place on a wire rack to cool. They are best served warm, but even if they are cold, the taste won’t change so much.
Meanwhile, prepare the glaze. Sift the sugar and add the vanilla into a bowl. Add the milk and mix well. The glaze should be pretty thick. If you still feel like it is too thick, just add one more teaspoon of milk. Now it’s the time to add food coloring if using.
To decorate the donuts, you have the option of dipping them into the glaze. Or simply place a plate under the wire rack, spoon the glaze over the donuts and allow the excess to drip on the plate. Top with sprinkles, the more the merrier!