In a bowl of a stand mixer, place ⅓ cup of warm milk.
Sprinkle yeats on top and stir. Let sit for 5 minutes.
Lightly grease a large mixing bowl. Set aside.
In a small mixing bowl, stir together the remaining milk, butter and sugar.
Add to yeast mixture.
Stir in eggs, flour, salt and orange zest. Mix until just incorporated.
Knead the dough for few minutes with a dough hook attachment or knead on lightly floured surface.
Knead until the dough is smooth and not too sticky. You can add more flour if your dough is too wet and sticky.
Shape into a ball on your countertop.
Place in the greased bowl. Turn the dough few times until greased.
Cover the bowl with a kitchen towel and set in a warm place. You can warm up a cup of water in a microwave and set your bowl with the dough inside, close the door and leave it until it doubles in size.
Line a baking sheet with aluminum foil, parchment paper or silpat. Set aside.
Punch down the dough and flip onto a floured surface.
Roll it our to about ½" thickness.
With a doughnut cutter ( or a round cookie cutters ), cut out your doughnuts and holes.
Place doughnuts on the prepared sheet.
Cover with the same kitchen towel and let rise for additional 45 minutes.
Preheat your oven to 375 degrees and bake the doughnuts for 8 - 10 minutes, or until golden.
You can bake your doughnut holes the same way, with a shorter baking time or fry them up in oil after the second rise.
Let cool completely before glazing.
for the glaze:
In a microwave safe bowl, melt chocolate chips or chunks with a 2 tablespoon of butter and 2 tablespoon of milk if it's still not thick but pouring consistency.
Spread over cooled doughnuts.
Add sprinkles, sea salt or chopped nuts.
Enjoy!
Notes
Original recipe from 101cookbooks.com via yummymummykitchen.com