Steps:
- For the doughnuts: Preheat the oven to 375 degrees F. Spray two 6-well eclair pans with nonstick spray.
- In a large mixing bowl, whisk together the flour, sugar, baking powder, cinnamon and salt to combine. Add the milk, egg, vanilla and butter, and mix gently until combined.
- Fill the wells of the prepared eclair pans about halfway with the batter.
- Bake until the doughnuts spring back when touched and a toothpick comes out clean, 10 minutes. Transfer the pans to a rack set over a baking sheet; let cool for 3 to 5 minutes. Remove the doughnuts from the pans and let cool completely on the rack.
- For the glaze: Whisk the confectioners' sugar and milk together until smooth.
- Dunk the doughnuts in the glaze to coat completely. Transfer to a rack and let set for 10 minutes before serving.
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