Glazed Donuts

Homemade Glazed Donuts are a breakfast treat the whole family can agree on! Pillowy soft, light and fluffy – better than the donut shop!
For the donuts
1 cup warm milk whole milk preferred, 90°F to 100°F
1 tablespoon instant yeast or active dry yeast
¼ cup granulated sugar
4 cups bread flour spooned and leveled, all purpose flour can be used instead
2 large eggs room temperature
1 teaspoon salt
8 tablespoons unsalted butter room temperature
vegetable oil enough to fry the donuts (2 quarts is good)
Vanilla Glaze
2 ½ cups powdered sugar
6 tablespoons whole milk
¾ teaspoon vanilla extract