Preheat oven to 350°F (175°C).
Mix flour, sugar, salt, and baking powder.
Add milk, melted butter, egg, and vanilla extract.
Stir until the dough is smooth and well combined.
Roll out the dough on a floured surface.
Use a donut cutter to cut out shapes.
Place donuts on a baking sheet.
Bake for 10-12 minutes until golden brown.
Mix powdered sugar, cocoa, milk, and vanilla.
Dip warm donuts in chocolate glaze.
Let glaze set on a cooling rack.
Serve and enjoy your chocolate donuts.