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Heat milk until it reaches about 110°F
Add instant yeast and 1 tbsp sugar to the warm milk and let bloom for 5 minutes
Add eggs, melted butter, vanilla extract, flour, and remaining sugar to a stand mixer with dough hook attachment
Once yeast has bloomed, add it to the stand mixer with all other ingredients and mix on medium speed for 5-7 minutes until dough forms
Cover dough with a clean towel and let rise for 1 hour until doubled in size
Remove dough from bowl and roll out with a rolling pin until ½ inch thick
Cut donuts using a donut cutter or circular cup and place on parchment paper
Allow donuts to double in size again
Fill a large pot with 2 inches of beef tallow or frying oil and heat to 350°F
Carefully fry donuts for 1-2 minutes on each side
Remove donuts and place on wire rack with paper towels
Once cooled slightly, dip donuts in icing and serve