01 - Preheat oven to 350°F and lightly grease a donut pan with cooking spray or butter.
02 - Heat milk in a small saucepan until just steaming. Remove from heat, add Earl Grey tea bags, and steep for 10 minutes. Squeeze out tea bags or strain loose leaf, then let cool completely.
03 - In a large mixing bowl, whisk together mochiko, granulated sugar, baking powder, and salt until well blended.
04 - In a separate bowl, whisk melted butter, eggs, infused milk, and vanilla extract until smooth and fully combined.
05 - Pour wet ingredients into dry ingredients. Stir gently until just combined and smooth, being careful not to overmix.
06 - Spoon or pipe batter into prepared donut pan, filling each cavity about 3/4 full.
07 - Bake for 15-18 minutes until donuts are puffed and a toothpick inserted into the center comes out clean.
08 - Let donuts rest in pan for 5 minutes, then transfer to a wire rack to cool completely before glazing.
09 - Whisk together powdered sugar, brewed Earl Grey tea, milk, and vanilla extract in a bowl until smooth and pourable. Add more milk, 1 teaspoon at a time, if too thick.
10 - Dip the tops of cooled donuts into the glaze, allowing excess to drip off. Return to wire rack and let glaze set for 15 minutes before serving.