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In a large bowl, combine warm milk, sugar, and yeast. Let sit for 5–10 minutes until frothy.
Add eggs, butter, vanilla, and salt. Gradually mix in the flour until a soft dough forms.
Knead on a floured surface for about 8–10 minutes until smooth and elastic.
Place the dough in a greased bowl, cover, and let rise for about 1 1/2 to 2 hours, or until doubled in size.
Roll out the dough to about 1 cm (1/2 inch) thick. Use heart-shaped and round donut cutters to cut out shapes.
Place donuts on a baking sheet lined with parchment paper. Cover loosely and let rest for 30 minutes.
Heat oil to 175°C (350°F) in a deep pan. Fry the donuts in batches for about 1 minute per side, or until golden brown.
Drain on paper towels and cool slightly.
For the glaze, whisk together powdered sugar, milk, and vanilla. Add food coloring if desired. Dip donuts into the glaze and add sprinkles if using. Let set for a few minutes before serving.
Serving and storage tips
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