01 - Combine flour, sugar, salt, and instant yeast in a large mixing bowl.
02 - Add warm milk, softened butter, and egg to the dry ingredients. Mix until a soft, cohesive dough forms.
03 - Knead the dough by hand or with a stand mixer for 8-10 minutes until smooth, elastic, and no longer sticky.
04 - Place dough in a lightly greased bowl, cover with plastic wrap or a damp towel, and let rise in a warm place for 1 hour until doubled in size.
05 - Punch down the risen dough and divide into 8 equal portions. Shape each piece into a smooth ball and arrange on a parchment-lined baking sheet.
06 - Cover the shaped dough balls and let rest for 30 minutes until slightly puffed.
07 - Heat vegetable oil in a deep pot or fryer to 340°F.
08 - Fry donuts in batches, turning occasionally, until golden brown on all sides, approximately 2-3 minutes per batch.
09 - Remove fried donuts with a slotted spoon and drain on paper towels. Allow to cool completely before filling.
10 - Whip cold heavy cream to soft peaks. Add sweetened condensed milk, powdered milk, and vanilla extract. Continue whipping until stiff peaks form.
11 - Transfer the cream to a piping bag fitted with a round tip. Make a small incision in the side of each cooled donut and pipe generously with the milk cream filling.
12 - Roll filled donuts in powdered sugar until evenly coated. Serve immediately for optimal texture.