Preheat your oven to 350°F (175°C) and grease a donut pan with non-stick spray or butter.

In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, salt, and baking soda until well combined.

In another bowl, mix the milk, melted butter, eggs, vanilla extract, and almond extract (if using) until smooth.

Pour the wet ingredients into the dry ingredients and stir until just combined. Be careful not to overmix; a few lumps are okay.

Transfer the batter to a piping bag or a zip-top bag with the corner snipped off. Pipe the batter into the prepared donut pan, filling each cavity about 2/3 full.

Bake for 10-12 minutes, or until the donuts are lightly golden and a toothpick inserted comes out clean.

Allow the donuts to cool in the pan for 5 minutes before transferring them to a wire rack to cool completely.

For the glaze, whisk together the powdered sugar, milk, and vanilla extract in a small bowl until smooth.

Once the donuts are cool, dip the tops into the glaze and let them sit on the wire rack for a few minutes to allow the glaze to set.