Preheat the oven to 400° and grease a 6-well donut baking pan. Ideally you have two pans but you can do multiple batches with one pan- that’s what we do!
In a large mixing bowl, whisk together the flour, sugar, baking powder, and salt.
In a separate bowl, whisk together the milk, eggs, melted butter, and vanilla.
Add the wet mixture to the flour mixture, stir until just combined. Be careful not to overmix or you’ll have tough doughnuts
Transfer the mixture to a piping bag or a zip-top bag with one corner snipped off.
Pipe the batter into the prepared donut pan, filling each well about 2/3 full.
Bake until donuts are puffed and lightly golden and a toothpick inserted comes out clean- about 9 minutes.
Immediately invert onto a wire rack and let cool completely before glazing or frosting.
