Homemade Cronuts (Croissoughnuts?)

INGREDIENTS

• 1 tablespoon active dry yeast
• 3/4 cups milk, warmed
• 1 teaspoon vanilla
• 3 1/2 cups all-purpose flour (divided)
• 3 tablespoons pure maple syrup
• 1 to 2 tablespoon milk, cream or water
• 1/2 cup powdered sugar
• 2 large eggs
• 1/3 cup sugar
• 1 cup butter, at room temperature
• 1 teaspoon salt