Air Fryer Donuts

Name: Air Fryer Donuts
Prep time: 10 min
Total time: 10 min
Cuisine: American
Ingredients: Cooking spray; 1/2 c. milk; 1/4 c. plus 1 tsp. granulated sugar, divided; 1 (0.25-oz.) packet or 2 1/4 tsp. active-dry yeast; 2 c. all-purpose flour; 1/2 tsp. kosher salt; 4 tbsp. butter, melted; 1 large egg; 1 tsp. pure vanilla extract; 1 c. powdered sugar; 2 oz. milk; 1/2 tsp. pure vanilla extract; 3/4 c. powdered sugar; 1/4 c. unsweetened cocoa powder; 3 tbsp. milk; 1/2 c. granulated sugar; 2 tbsp. ground cinnamon; 2 tbsp. melted butter