Heat the milk in the microwave until it is lukewarm (not too hot).
In a large bowl, combine the warm milk, dry yeast, oil, and icing sugar. Stir to mix well.
Gradually add the flour and salt, mixing until the dough starts to come together. The dough will be quite soft.
Use a mixer to knead the dough for about 10 minutes at medium speed. Once the dough is smooth, transfer it to a greased dish, cover with a damp cloth, and let it rise for 30 to 60 minutes, or until it doubles in size.
Shape the Donuts:
After the dough has risen, transfer it to a lightly floured surface. Stretch the dough out gently with your hands and use a circular mold or a glass to cut out donut shapes.
Heat enough oil in a deep pan or fryer to submerge the donuts. Fry the donuts for about 2 minutes on each side, or until golden brown. Remove them from the oil and set them aside to cool.
Make the Filling:
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