Preheat the Oven: Preheat your oven to 350°F (175°C). Grease or lightly spray a donut pan with cooking spray.

Make the Donut Batter: In a medium bowl, whisk together the all-purpose flour, granulated sugar, baking powder, and salt. In a separate bowl, combine the melted butter, egg, skim milk, and vanilla extract. Pour the wet ingredients into the dry ingredients and stir until just combined. Be careful not to overmix.

Fill the Donut Pan: Spoon the donut batter into the prepared donut pan, filling each cavity about 3/4 full. Use a spoon or piping bag to evenly distribute the batter.

Bake the Donuts: Bake in the preheated oven for 10-12 minutes or until the donuts spring back when touched lightly and a toothpick inserted comes out clean. Let the donuts cool in the pan for 5 minutes, then transfer them to a wire rack to cool completely.

Make the Vanilla Glaze: While the donuts are cooling, whisk together the powdered sugar, vanilla extract, a pinch of salt, and 1 tablespoon of milk in a small bowl. Adjust the consistency by adding more milk if needed for a smoother glaze.

Glaze the Donuts: Once the donuts have cooled, dip each donut into the vanilla glaze, making sure the top is fully coated. Place the glazed donuts back on the wire rack and allow the glaze to set for a few minutes.

Optional Decoration: For extra fun, add food coloring to the glaze or top the glazed donuts with sprinkles for a festive touch.

Serve and Enjoy: Enjoy these light and fluffy vanilla glazed baked donuts as a sweet treat with coffee, tea, or as a special breakfast.