Preheat the oven to 180C/350F. Grease a 12-count donut pan with cooking spray and set aside.
In a large mixing bowl, add your dry ingredients and mix well. Then, add your wet ingredients, and mix until a thick batter remains. If it is too thick, add extra milk.
Transfer your batter into a ziplock bag. Cut one corner of it and distribute the batter evenly amongst the donut holes. Bake for 13-15 minutes, or until a skewer comes out clean.
Let the donuts cool in the pan for 10 minutes, before carefully transferring to a wire rack to cool completely. Once cooled, glaze them.
To make the glaze, combine the powdered sugar substitute with cocoa powder. Slowly add the milk until thick and glossy. Dip each donut in the glaze then place them on a wire rack for the glaze to firm up.
Notes
* You may need more, depending on if your batter is too thick.TO STORE: Donuts should be stored in the refrigerator, covered. They will keep well for up to 1 week.TO FREEZE: Place donuts in a ziplock bag and store them in the freezer for up to 6 months.