Activate Yeast Mixture:

In a small bowl, stir together warm milk, yeast, and sugar. Let sit for 5 minutes until foamy.

Beat Wet Ingredients:

In a large bowl, beat the egg, melted butter, and vanilla extract together.

Combine Yeast and Egg:

Pour the yeast mixture into the egg mixture and mix until combined.

Mix Dry Ingredients:

In another bowl, combine flour and salt. Slowly add the flour mixture to the wet ingredients, stirring until a dough forms.

Knead Dough:

Transfer the dough to a lightly floured surface and knead for 5-7 minutes until smooth and elastic.

First Rise:

Put the dough in a greased bowl, cover with plastic wrap, and let it rise in a warm spot for 1 hour until doubled.

Divide and Shape Ropes:

Deflate the dough and cut it into 12 equal portions. Roll each into a long thin rope.

Form Crullers:

Shape each rope into a cruller and arrange on an ungreased baking sheet. Repeat with remaining dough.

Second Rise:

Allow the donuts to rise for 30 minutes until doubled.

Preheat Oven:

Heat oven to 375°F (190°C).

Bake Donuts:

Bake the donuts for 15-20 minutes until golden brown.

Cool Donuts:

Let them cool on a wire rack for a few minutes.

Make Glaze:

In a small bowl, whisk powdered sugar, milk, and vanilla extract until the glaze is smooth.

Glaze Donuts:

Dip the cooled donuts into the glaze and allow to set before serving.