Preheat the Mickey Waffle and Donut Maker.

In a large bowl, whisk together the flour, sugar, baking powder, cocoa powder, and salt.

In a separate bowl, beat together the milk, eggs, melted butter, and vanilla extract.

Add the egg mixture to the flour mixture and stir to combine.

Transfer the batter to a large piping bag.

Pipe the batter into the donut maker, filling each cavity about 2/3 full. Bake 4-5 minutes.

Remove the donuts and place on a wire rack over a baking sheet. Repeat with remaining batter.

In a small bowl, whisk together the powdered sugar, milk, and vanilla extract.

Use a pastry brush to brush the glaze over the warm donuts.