Glazed Doughnuts

INGREDIENTS

• 3/4 cup warm milk (about 110ºF)
• 1/4 cup granulated sugar
• 1 packet active dry yeast
• 2 1/4 cups all-purpose flour
• 1/4 tsp. kosher salt
• 2 Tbs. unsalted butter, at room temperature
• 2 egg yolks
• Nonstick cooking spray
• Vegetable oil for frying
• 5 Tbs. unsalted butter
• 4 oz. semisweet chocolate chips
• 2 cups confectioners’ sugar
• 1 1/2 tsp. vanilla extract
• 1/4 cup hot water