Preheat the oven to 350℉ and grease the donut pan.
Mix together the milk and vinegar in a small bowl and let sit for at least 5 minutes.
Stir together all of the dry donut ingredients in a large mixing bowl.
Add in all of the wet donut ingredients and stir until just combined. Do not overmix.
Pour or spoon in about ¼ cup of the batter into each donut cavity. The batter should fill the donut cavities about ⅔ of the way up.
Bake for about 13 minutes. Poke the donuts with a toothpick to check for doneness. Allow to cool on a cooling rack for at least 10 minutes before adding the glaze.
Cream Cheese Glaze
Cream together the cream cheese and powdered sugar.
Mix in the milk and vanilla extract. Add in 1 teaspoon of milk at a time until you reach the right consistency. Using less milk will result in a thicker frosting, using more milk will result in a thinner glaze.
Once the donuts are cool, ice them by dipping them in the icing or spooning the glaze onto the donuts and spreading it with the back of a spoon.
Notes
Yield: Makes 6 to 8 donuts.Storage: The donuts can be frozen before being glazed. Warm up by thawing at room temperature for about 2 hours. Can be stored in the fridge for up to 2 to 3 days.Toothpick test: When checking if the donuts are done baking, the toothpick should come out clean or maybe with a few crumbs, there should not be batter on the toothpick. If there is wet batter on the toothpick, bake for another 1 to 3 minutes.