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Preheat the oven to 175 degrees C (350 degrees F).
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Spray a donut pan with nonstick cooking spray and set aside.
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In a large bowl, whisk together the flour, sugar, baking powder and salt.
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In a small bowl, whisk together egg, milk, butter and vanilla extract.
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Add the wet ingredients to the dry ingredients and stir together until no flour bits remain and all the ingredients are well combined. Try not to over-mix the batter.
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Spoon the batter into the donut cavities or use a large ziplock bag. Cut a corner off the bottom of the bag and pipe the batter into each donut cavity, filling 3 ∕ 4 of the way full.
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Place the pan in the oven and bake for 8 to 10 minutes.
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Remove from the oven and allow to cool in the pan before inverting onto a wire rack to cool completely.
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While the donuts cool, make the glaze.
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In a medium bowl whisk together the powdered sugar, vanilla extract and salt.
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Add 1 tablespoon of milk, and whisk to combine. If the glaze is too thick, add additional milk, 1/2 teaspoon at a time until the desired consistency is reached.
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Add food coloring if you wish.
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Once the donuts are completely cool, dip them into the vanilla glaze. Return to the wire rack and sprinkle with sprinkles. Allow the glaze to set for about 30 minutes before stacking or serving.
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Enjoy these delicious vanilla glazed baked donuts!
