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Cinnamon Roll Donuts

Karissa Parrish
These Cinnamon Roll Donuts are topped with a sweet cinnamon sugar topping and vanilla glaze, making them taste just like cinnamon rolls! The donuts are super soft, fluffy, and perfect for any breakfast occasion.
Prep Time 10 mins
Cook Time 10 mins
Cooling Time 10 mins
Total Time 30 mins
Course Breakfast, Dessert
Cuisine American
Servings 6 donuts


  • Donut Pan
  • Mixing Bowls



  • 1 cup all-purpose flour
  • 1 teaspoon baking powder
  • 1 teaspoon ground cinnamon
  • ¼ teaspoon salt
  • 2 tablespoons unsalted butter, melted
  • 1 large egg, room temperature
  • ½ cup brown sugar
  • ¼ cup milk, room temperature
  • ¼ cup yogurt (plain or vanilla), room temperature
  • 1 teaspoon vanilla extract

Cinnamon Topping

  • ¼ cup brown sugar
  • 2 teaspoons ground cinnamon
  • 1 tablespoon unsalted butter, melted

Vanilla Icing

  • ¼ cup powdered sugar
  • ½ teaspoon vanilla extract
  • 1 teaspoon milk


  • Preheat the oven to 350 degrees and spray a 6-count donut pan with non-stick spray. Set aside.


  • In a medium-sized bowl, whisk together the flour, baking powder, cinnamon, and salt. Set aside.
  • In a large bowl, whisk together the melted butter, egg, brown sugar, milk, yogurt, and vanilla extract until combined. Add the dry ingredients into the wet and gently fold together using a silicone spatula or wooden spoon until combined (be careful not to over mix).
  • Scoop the batter into a piping bag or a zipped-up sandwich bag. Simply cut a corner off of the bottom of the bag and pipe the donut batter into each donut cup, filling it up just barely to the top.

Cinnamon Topping

  • In a small bowl combine the brown sugar, cinnamon, and melted butter with a spoon. Use the spoon to sprinkle the cinnamon topping over each unbaked donut.
  • Bake the donuts for 10-12 minutes. Use a toothpick to check the center. If it comes out clean, then they're done. Allow the donuts to cool in the pan for 10 minutes before carefully removing them and setting them on a wire rack to finish cooling.

Vanilla Icing

  • In a small bowl mix together the powdered sugar, vanilla extract, and milk with a fork. Use a spoon to drizzle over each donut and serve immediately.
  • Keep leftover donuts in an airtight container in the refrigerator or on the counter for up to 2 days.


Donut Pan: You'll need a 6-count donut pan.
Room Temperature Ingredients: It's important for the milk, egg, and yogurt to be at room temperature so they'll incorporate into the batter more smoothly. I recommend removing these ingredients from the refrigerator 1 hour before baking.
Donut Batter: I find it so much easier to scrape the donut batter into a pastry bag or a zipped-up sandwich bag and pipe the batter into the donut cups. This method makes it less messy too.
Cinnamon Topping: Use a spoon or your fingers to sprinkle the brown sugar cinnamon mixture over the batter before baking.
Keyword baked cinnamon roll donuts, cinnamon donut, cinnamon roll donuts