Preheat oven to 350°F. Lightly grease a non-stick donut pan.

In a medium bowl, whisk together gluten-free flour, baking powder, and salt.

In a large mixing bowl, combine sugar, milk, eggs, vanilla, and oil until well mixed.

Gradually add dry ingredients to wet ingredients, mixing until just combined.

Transfer batter to a piping bag or plastic storage bag with corner snipped.

Pipe batter into donut pan, filling each cavity 2/3 full.

Bake 12-15 minutes until lightly golden and springy to touch.

Cool in pan 5 minutes before transferring to wire rack.

For glaze: Whisk powdered sugar and milk until smooth. Dip cooled doughnuts and return to rack to set. Add dye-free sprinkles or topping of choice.