1-Preheat the oven: Preheat the oven to 350°F (175°C) and lightly grease a donut pan with non-stick cooking spray.

2-Whisk dry ingredients: In a large bowl, whisk together the flour, baking powder, cinnamon, and salt.

3-Whisk wet ingredients: In a separate bowl, whisk the eggs and sugar, then add the milk, melted butter, and vanilla extract; mix well.

4-Combine wet and dry: Combine the wet and dry ingredients, stirring until just combined to avoid overmixing.

5-Fill donut pan: Fill a piping bag or resealable plastic bag with the batter and pipe it into the donut pan cavities, filling them about two-thirds full.

6-Bake the donuts: Bake for 11 to 14 minutes, or until the donuts are lightly golden and a toothpick inserted comes out clean.

7-Cool the donuts: Cool the donuts in the pan for a few minutes, then transfer them to a wire rack to cool completely.

8-Prepare the glaze: For the glaze, whisk together the powdered sugar, milk, and vanilla extract until smooth, adjusting the consistency by adding more milk or powdered sugar as needed.

9-Color and glaze donuts: Add food coloring to the glaze if desired, then dip the cooled donuts into the glaze, allowing excess to drip off.

10-Add toppings and set: Add toppings like sprinkles or nuts while the glaze is still wet. Let the glaze set for a few minutes before serving.