Prep the pan and oven: Preheat the oven to 350°F (175°C). Lightly grease a 6-cavity doughnut pan with nonstick spray or a thin brush of oil. Set aside.

Mix the dry ingredients: In a medium bowl, whisk 1 cup (120 g) all-purpose flour, 1/3 cup (65 g) granulated sugar, 1 teaspoon baking powder, and 1/4 teaspoon fine salt until evenly combined.

Whisk the wet ingredients: In a separate bowl, whisk 1/2 cup (120 ml) milk, 2 tablespoons melted unsalted butter (slightly cooled), 1 large egg, 1 teaspoon vanilla extract, 1 tablespoon fresh lemon zest, and 1 tablespoon fresh lemon juice.

Combine gently: Pour the wet mixture into the dry ingredients. Stir with a spatula until just combined and no dry streaks remain. Do not overmix—a few small lumps are fine.

Fill the pan: Transfer the batter to a piping bag or a zip-top bag and snip the corner. Pipe or spoon the batter evenly into the greased doughnut cavities, filling each about 3/4 full.

Bake: Bake for 9–11 minutes, or until the doughnuts spring back lightly when touched and a toothpick comes out clean. Avoid overbaking for the softest texture.

Cool: Let the doughnuts rest in the pan for 3 minutes, then turn them out onto a cooling rack. Cool completely before glazing.

Make the glaze: In a shallow bowl, whisk 1 cup (120 g) powdered sugar with 2–3 tablespoons fresh lemon juice and a pinch of lemon zest until smooth and pourable. Adjust consistency with more sugar (thicker) or juice (thinner).

Glaze: Dip the tops of the cooled doughnuts into the glaze, let excess drip off, then set back on the rack. For a thicker, opaque finish, dip twice, allowing the first layer to set for 5 minutes.

Finish and serve: Let the glaze set for 10–15 minutes. Enjoy fresh, or store as directed below.