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Preheat the oven to 350 degrees and grease donut pans with non-stick cooking spray.
Beat the cake mix, egg, melted butter, and milk in a mixing bowl.
When the batter is well mixed, transfer the mixture to a large piping bag or a resealable bag. Pipe the mixture into the donut pans.
Bake in the preheated oven for 15 to 18 minutes until a toothpick inserted into the center comes out clean.
Allow the donuts to cool in the pan for 5 minutes, then flip the pan over onto a wire cooling rack and allow the donuts to cool completely.
When the donuts are cool, you can A. remove the lid from the frosting and heat for 30 seconds to 1 minute in the microwave, until the frosting is slightly runny. Drizzle the melted frosting over the top of each donut, then decorate with sprinkles, chocolate chips, or whatever you like. OR B. Combine the powdered sugar and milk in a bowl. Stir until all the lumps are gone. Add extra milk if necessary to get it to a runny consistency. Dip donuts into the glaze and set them aside on racks to decorate.