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Preheat the oven: Preheat your oven to 350°F (175°C). Grease a donut pan with butter or non-stick spray, or use a silicone donut pan.
Prepare the dry ingredients: In a large bowl, whisk together the flour, sugar, baking powder, baking soda, salt, and cinnamon until well combined.
Mix the wet ingredients: In a separate bowl, beat the egg and add the milk, melted butter, vanilla extract, and yogurt. Mix until smooth and well combined.
Combine wet and dry ingredients: Pour the wet ingredients into the dry ingredients and stir until just combined. Be careful not to overmix – the batter should be thick but smooth.
Fill the donut pan: Spoon the batter into the donut pan, filling each donut cavity about 2/3 of the way. You can also use a piping bag or a plastic sandwich bag with the tip cut off to make this process easier.
Bake the donuts: Bake in the preheated oven for about 10-12 minutes, or until a toothpick inserted into the center comes out clean. Allow the donuts to cool in the pan for 5 minutes, then transfer them to a wire rack to cool completely.
Optional glaze: In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Drizzle over the cooled donuts, or dip the tops of the donuts into the glaze for an extra sweet touch.
Serving and Storage Tips:
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