Preheat the oven to 375 degrees and grease a doughnut pan (for 6 doughnuts).
Mix the dry ingredients together in a large bowl. Whisk the wet ingredients in a smaller bowl until smooth. Whisk the wet ingredients into the dry and beat until smooth. Place the batter into a zip-top bag, snip off one corner and pipe the batter into the prepared doughnut pan (it’s so much easier than trying to spoon it in!).
Bake doughnuts for 12-15 minutes, or until a toothpick inserted into the thickest part comes out clean.
Allow doughnuts to sit in the pan for 5 minutes, then turn out onto a cooling rack. Cool completely before glazing.
Make the glaze. Sift the powdered sugar into a bowl. Whisk in the milk and extract until smooth. If the glaze is too thick, add more milk. If it’s too thin, add more powdered sugar. Drizzle the glaze over the tops of the doughnuts. These are best eaten the same day.