Steps
1. In a small bowl, dissolve yeast in warm milk and let sit for 5 minutes until frothy.
2. In a mixing bowl, combine flour, sugar, baking powder, and salt.
3. Add the yeast mixture and melted butter to the dry ingredients; mix until a soft dough forms.
4. Knead gently on a floured surface for 3-4 minutes.
5. Roll out dough to about 1/2 inch thickness and cut a donut shape using a donut cutter or two round cutters.
6. Heat vegetable oil in a deep pan to 350°F (175°C).
7. Fry donuts in batches until golden brown, about 1-2 minutes per side.
8. Remove and drain on paper towels.
9. Mix powdered sugar, milk, and vanilla extract until smooth to create glaze.
10. Dip warm donuts into glaze and place on a rack to set before serving.