Pour 3 to 4 inches of oil into a medium pot and heat to 350°F (175°C).

Line a baking sheet with several layers of paper towels.

Separate the biscuit dough and cut a hole in the center of each biscuit using a small cookie cutter, pastry tip, or small glass.

Carefully fry the doughnuts in batches for 3 to 5 minutes per side until evenly golden brown.

If the oil becomes too hot and the doughnuts brown too quickly, reduce the heat slightly.

Remove the doughnuts with a slotted spoon and place them on the prepared baking sheet to drain.

Allow the Biscuit Doughnuts to cool for 10 to 15 minutes.

Meanwhile, sift the confectioners' sugar into a bowl.

Add the milk and whisk until smooth.

Stir in the vanilla extract.

If the glaze is too thick, add additional milk one tablespoon at a time.

Dip each cooled doughnut into the icing.

Place on parchment paper and immediately decorate with sprinkles if desired.

Let the glaze set before serving.