Preheat your oven to 350°F (175°C) and prepare your donut pan by greasing it lightly or lining with parchment paper.

In a large bowl, whisk together the all-purpose flour, granulated sugar, baking soda, baking powder, and salt until well mixed.

Combine the unsweetened plant-based milk, vegetable oil, and vanilla extract until well blended in a separate bowl.

Gradually pour the wet mixture into the dry ingredients and gently stir until just combined, being careful not to overmix.

Stir in the apple cider vinegar until you see some bubbles forming, signaling that your batter is ready.

Using a spoon or piping bag, carefully fill the donut cavities of your prepared pan about two-thirds full.

Bake for 10-12 minutes until a toothpick inserted in the center comes out clean, and the tops bounce back when touched.

Let cool in the pan for about 5 minutes before transferring to a wire rack to cool completely.

Once cooled, decorate as desired with glaze, toppings, or serve plain.