Preheat your oven to 350F and grease a standard donut pan with non-stick spray.

In a large bowl, combine the flour, sugar, and baking powder and whisk to combine.

Add in the egg, milk, vegetable oil, and vanilla and whisk to combine-- mix just until no large lumps of flour remain. You don’t want to overmix.

Divide the mixture between the wells of the donut pan, filling each one about ¾ of the way full.

Bake the donuts in a preheated oven for 15-18 minutes, or until they are golden brown around the edges and a toothpick inserted into the center comes out clean.

Transfer the doughnuts to a wire rack to cool before icing.

For the Icing

In a small bowl, whisk together the powdered sugar, milk, and vanilla extract.

Once the donuts have cooled, dip them in the icing and then top with sprinkles. Enjoy immediately or store in an airtight container at room temperature for up to three days.