Heat milk in microwave or on the stove until it steams, then remove and cool until it's warm.

Add warm water and yeast to a mixing bowl and let sit for 2-3 minutes.

Add sugar.

Add milk.

Add butter.

Add salt.

Add egg yolks

Stir.

Add flour one cup at a time.

Knead dough for 5 minutes.

Let rise for 1 hour.

Gently punch down dough and roll out to ~1 to 1 and 1/2 inch thickness.

Use a doughnut cutter to cut out doughnuts.

Place on a piece of parchment paper and cover loosely with plastic wrap.

Let rise for another hour to 1.5 hours or until doughnuts are double in size.

Heat oil on stove until it gets to 360 to 375 F. if using a cooking or candy thermometer. If going rouge without a thermometer place a popcorn kernel in the oil and when it pops, it's to temp, then reduce heat by 1/3 and that should be a good temp. Play around with it for find the perfect setting for your stove.

These cook very quickly so around 15-20 seconds per side. So when golden, flip then remove from oil.

Fry 2-3 doughnuts at a time to keep the temperature consistent.

Place on a cooling rack with a paper towel underneath so they can drain.

Instructions for Glaze:

Mix all of the ingredients together until smooth and dip warm doughnuts in the glaze then place on a cooling rack or piece of parchment so they can dry slightly.

Enjoy!