In a bowl whisk the milk, yogurt, and egg together until smooth. Add the melted butter and vanilla, whisking until fully combined.
Add in your dry ingredients and combine.
Fold in the sprinkles gently to ensure they do not bleed their color
Cut a corner off the bottom of the bag and pipe the batter into each donut cup, filling 2/3 to 3/4 of the way full. You can also spoon the batter into the molds
Bake for 9-10 minutes or until the edges are lightly browned. Allow the donuts to slightly cool before glazing. The glaze “sets” easier onto cooled donuts.
Take each donut and dunk it in your glaze. Then top it off with sprinkles