Preheat oven to 350ºF. Lightly coat doughnut pan with cooking spray.
Add all dry ingredients to a large mixing bowl and whisk together. Add remaining ingredients to dry ingredients and whisk until just incorporated.
Use a pastry bag fitted with a large round tip (or a large ziplock bag with one corner snipped off) to pipe the batter into doughnut pan molds. Fill each mold about 3/4 full.
Bake doughnuts for 10–12 minutes or until an inserted toothpick comes out clean and the doughnuts spring back when lightly pressing your finger into them. Let cool in the pan for a few minutes before transferring them to a wire rack. Let cool completely before glazing.