01 - Preheat oven to 350°F. 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. Remove tea bags or strain loose leaf, then cool to room temperature.
03 - Whisk together mochiko, granulated sugar, baking powder, and salt in a large bowl until evenly combined.
04 - In a separate bowl, whisk melted butter, eggs, infused milk, and vanilla extract until smooth and fully incorporated.
05 - Pour wet ingredients into dry ingredients. Stir 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 cool in the pan for 5 minutes, then carefully transfer to a wire rack to cool completely before glazing.
09 - Whisk together powdered sugar, brewed Earl Grey tea, milk, and vanilla extract until smooth and pourable. Add additional milk 1 teaspoon at a time if glaze is too thick.
10 - Dip the top of each cooled donut into the glaze, allowing excess to drip off. Return to wire rack and let glaze set for 15 minutes before serving.