Preheat oven to 350°.
In a bowl, combine tapioca flour, coconut sugar and baking powder.
In a separate bowl, combine coconut yogurt, oat milk, and vanilla.
Combine dry and wet ingredients. Add in the oil and stir again until a soft, but moist dough is formed.
Using your hands, roll the dough into little balls (slightly larger than a grape) and transfer to a parchment lined baking tray. Arrange the balls to form a donut shape and gently press them together.
Transfer the baking tray to the oven at bake at 350° for about 15 minutes. Remove from oven and allow the donuts to cool before frosting.
Prepare the icing: combine all ingredients in a small bowl. Adjust the amount of milk to achieve desired consistency (more milk for more of a glaze, less milk for an icing).
Once the donuts have cooled, dip in the icing and immediately top with sprinkles or toppings of choice.
Allow the icing to cool and harden. Enjoy!