In a bowl, combine warm milk and yeast. Let it sit for about 5 minutes until frothy.

In a large mixing bowl, combine flour, sugar, and salt.

Add the yeast mixture, melted butter, egg, and vanilla extract to the dry ingredients. Mix until a dough forms.

Knead on a floured surface for about 5-7 minutes until smooth.

Place the dough in a greased bowl, cover, and let rise until doubled in size, about 1 hour.

Preheat the oven to 375°F (190°C).

Roll out the dough to about 1/2 inch thick and cut into bars.

Place on a baking sheet lined with parchment paper and let rise for another 30 minutes.

Bake for 12-15 minutes until golden brown.

For the glaze, whisk powdered sugar and maple syrup together, adding milk to achieve the desired consistency.

Once the donuts are cool, dip the tops in the glaze and let set before serving.