01 - Preheat oven to 350°F. Lightly grease a donut pan with cooking spray or butter.
02 - Heat the milk in a small saucepan until just steaming. Remove from heat, add Earl Grey tea bags, and steep for 10 minutes. Squeeze out and discard tea bags or strain loose leaf. Let infused milk cool to room temperature.
03 - In a large mixing bowl, whisk together mochiko, granulated sugar, baking powder, and salt until evenly blended.
04 - In a separate bowl, whisk melted butter, eggs, cooled infused milk, and vanilla extract until smooth and 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 cavities, filling each 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 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 tops of cooled donuts into glaze, letting excess drip off. Return to wire rack and let glaze set for 15 minutes before serving.