1. Preheat your oven to 375°F (190°C) and grease a donut pan.
2. In a mixing bowl, whisk together the flour, sugar, baking powder, and salt.
3. In another bowl, combine the milk, melted butter, vanilla extract, and egg.
4. Pour the wet ingredients into the dry ingredients and mix until just combined.
5. Fill the donut pan with the batter and bake for 12-15 minutes or until golden brown.
6. Let the donuts cool on a cooling rack.
7. For the glaze, mix the maple syrup and powdered sugar until smooth.
8. Dip the cooled donuts into the glaze and sprinkle with crumbled bacon.