Baked Vanilla Doughnuts with Vanilla Glaze
Make the doughnuts: Preheat oven to 325 degrees and lightly grease or cooking-spray the doughnut pan.
In a large bowl, mix together flour, sugar, baking powder, and cinnamon. Add buttermilk, egg, vanilla and melted butter. Stir with a rubber spatula to combine.
Use a pastry bag fitted with a large round tip (or a Ziploc bag with a corner cut off) to pipe the batter into a 6-donut pan. Bake 13 minutes in the preheated oven, until doughnuts spring back when touched or until dough is set. Doughnuts will not be golden brown, but should be springy. Allow to cool slightly before removing from pan, about 5 minutes.
Make the glaze: Combine the powdered sugar, vanilla extract, and water or milk. Add the water or milk, one teaspoon at a time, until desired consistency is achieved.
Lay out 2 layers of paper towels and place a wire rack on top. Dip the doughnuts into the glaze while slightly warm (or cool) and place on the wire rack. Allow the glaze to set before moving to different plate.