Instructions

1. Heat 1¼ cups milk in microwave in 30-second intervals until it is warm but not hot, about 90°F. Combine milk and yeast in a stand mixer fitted with dough hook.
2. Beat in eggs, butter, granulated sugar, and salt; beat in 2 cups flour, and mix until combined. Beat in remaining flour on medium speed 3 to 5 minutes or until dough pulls away from sides of bowl.
3. Transfer dough to a large greased bowl, and cover. Let rise at room temperature until doubled in size, about 1 hour.
4. Turn out dough onto a well-floured surface; roll into ½-inch thickness. Cut out doughnuts with a doughnut cutter or a drinking glass and a shot glass, flouring cutters as you work.
5. Knead any scraps together, being careful not to overwork dough, and let rest before repeating process. Divide doughnuts between 2 floured baking sheets, cover with a kitchen towel, and let rise until slightly puffed, about 45 minutes.
6. Meanwhile, heat oil in a large Dutch oven over medium heat, until it reaches 375°F. Line 2 wire cooling racks or plates with paper towels.
7. Carefully add doughnuts to oil, a few at a time. Cook 45 to 60 seconds or until bottoms are deeply golden, and flip using a slotted spoon; cook until deeply golden on each side.
8. Transfer doughnuts to paper towel-lined racks or plates, and repeat with remaining doughnuts, being sure to keep oil temperature at 375°F.
9. Whisk powdered sugar, cocoa, 2 Tbsp milk, and vanilla in a medium-size bowl until smooth. Dip top of doughnuts into glaze; top with sprinkles.