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Preheat oven to 325 degrees F. Lightly grease a doughnut pan.
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In a large bowl, mix flour, sugar, baking powder, cinnamon and salt. Stir in milk, eggs, vanilla and butter. Beat together until well blended.
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Use a pastry bag fitted with a large round tip (or a Ziploc bag with a corner cut off) to pipe the batter into a 6-doughnut pan. Bake 8 to 10 minutes in the preheated oven, until doughnuts spring back when touched. Allow to cool slightly before removing from pan.
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To make glaze, blend confectioners’ sugar, vanilla, and heavy cream, starting with 1 teaspoon and adding more as needed. Dip each doughnut into the glaze and put sprinkles on top.