Preheat your oven to 350°F (175°C). Grease a donut pan.
In a large bowl, whisk together the flour, sugar, baking powder, baking soda, salt, and spices.
In another bowl, whisk together the milk, eggs, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients and mix until just combined.
Spoon the batter into the prepared donut pan, filling each cavity about ¾ full.
Bake for 10 minutes or until a toothpick inserted into the donuts comes out clean.
Let the donuts cool in the pan for a few minutes before transferring to a wire rack to cool completely.