Preheat oven to 350°F. Butter or spray two 6-count donut pans and set aside. Set a wire rack over a baking sheet that has been lined with foil or parchment paper (this will make for easy clean up later), set aside.

In a medium bowl, sprinkle the yeast over the warm water and set aside for several minutes.

In a large bowl, whisk the flour, sugar, baking powder and salt until combined. Set aside.

Add the eggs, yogurt, melted butter and vanilla extract to the yeast mixture and whisk until combined. Add to the flour mixture and stir until thoroughly combined.

Spoon the batter into the donut pans filling each a little more than half full. Bake until they spring back when touched and they are golden brown, about 12-14 minutes. Allow the donuts to cool in the pan for 5 minutes, then remove from the pan and set the donuts on the prepared wire rack to continue cooling. Cool completely before frosting.

Combine all ingredients (beginning with only 2 tablespoons of milk) in a large bowl. Whisk until smooth. Add another tablespoon or so of milk, if needed, to thin it out.

Place a donut in the vanilla glaze and flip it around several times to coat it completely. Return to the wire rack and allow the glaze to harden, about 15-20 minutes before topping with the chocolate glaze.

In a small saucepan over medium-low heat, melt the chocolate and butter. Once melted, remove from the heat and add the powdered sugar, vanilla and milk. Whisk until completely smooth. If you’d like the glaze to be thicker, add a little more powdered sugar. If you’d like it thinner, add a little bit more milk.

Use a spoon to pour some of the chocolate glaze over the top of each donut, allowing it to drip down the sides. Immediately top with sprinkles (if using). Allow the glaze to firm up on the donuts before serving.