Warm the milk to about 38°C (100°F). Stir in yeast and a pinch of sugar. Let it bloom until foamy, about 5 minutes.
In a large bowl, combine flour, salt, and remaining sugar. Add softened butter and beaten eggs, mixing until crumbly.
Pour in the yeast mixture and knead until smooth, roughly 8 minutes. Furthermore, make sure dough feels soft but not sticky.
Cover and let rise in a warm spot until doubled, around 1 hour. Consequently, you'll notice small air pockets forming within the dough.
Roll out on a floured surface to 1.5 cm (0.6 in) thickness. Cut with a donut cutter or 7 cm (2.8 in) ring and a smaller inner ring.
Place on parchment squares and allow to rise another 20–30 minutes. Meanwhile, heat oil to 180°C (355°F).
Fry 2–3 donuts at a time for about 1 minute per side, until golden. Drain on a wire rack over paper towels.
For the glaze, whisk maple syrup, powdered sugar, heavy cream, and vanilla extract until silky. Adjust consistency with more sugar or a drop of cream if needed.
Dip each warm donut halfway into the glaze. Set on a rack to drip and set for at least 10 minutes before serving.
Finally, enjoy the glossy finish and balanced sweetness.