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In a small bowl, combine warmed milk and yeast. Let it sit for 5 minutes until foamy.
In a large mixing bowl, whisk together sugar, eggs, and melted butter. Add the yeast mixture and stir until well combined.
Gradually add flour and salt, stirring until a soft dough forms.
Turn the dough onto a floured surface and knead for 5–7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for 1 hour, or until doubled in size.
Punch down the dough and roll it out on a floured surface to ½-inch thickness. Use a doughnut cutter or two round cutters (one large, one small) to cut out doughnuts and holes.
Place the doughnuts and holes on a parchment-lined baking sheet, cover with a clean kitchen towel, and let them rise for 30–45 minutes, or until puffy.
Heat vegetable oil in a deep fryer or large pot to 375°F (190°C). Fry the doughnuts in batches for 1–2 minutes per side, or until golden brown.
Remove the doughnuts with a slotted spoon and place them on a wire rack to cool slightly.
In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth. Dip each doughnut into the glaze, allowing any excess to drip off. Place them back on the wire rack to set.