01 - Heat milk in a small saucepan until just steaming. Remove from heat, add Earl Grey tea bags, and steep for 10 minutes. Squeeze out and discard tea bags or strain loose leaves. Allow to cool to room temperature.
02 - Preheat oven to 350°F and lightly grease a donut pan. In a large bowl, whisk together mochiko, sugar, baking powder, and salt until well combined.
03 - In a separate bowl, whisk melted butter, eggs, infused milk, and vanilla extract until smooth and fully incorporated.
04 - Pour wet ingredients into dry ingredients. Stir gently until just combined and smooth, being careful not to overmix.
05 - Spoon or pipe batter into prepared donut pan cavities, filling each about three-quarters full.
06 - Bake for 15-18 minutes until donuts are puffed and a toothpick inserted into the center comes out clean.
07 - Let donuts rest in pan for 5 minutes, then carefully transfer to a wire rack to cool completely before glazing.
08 - Whisk together powdered sugar, brewed Earl Grey tea, milk, and vanilla extract until smooth and pourable. Add additional milk by teaspoon if consistency is too thick.
09 - Dip tops of cooled donuts into glaze, allowing excess to drip off. Return to wire rack and let glaze set for 15 minutes before serving.