In a small bowl combine warm water, yeast, and 1 tbsp of the sugar. Let sit for 5 minutes or until the top is foamy.
In a large bowl add in 3 cups of flour, milk, remaining sugar, butter, salt, and eggs. Add in yeast mixture and mix to combine. Adding in remaining flour until the dough starts to pull away from the sides of the bowl.
Pour the dough onto a lightly floured surface and knead for 5-10 minutes. Adding in additional flour as needed to keep the dough from sticking to the counter or hands.
Place the kneaded dough back into the bowl and cover with plastic wrap. Allow to rise for at least 1 hour, if it is cold you may need to allow it to rise for longer.
Once the dough has doubled in size punch the dough down and roll out onto a counter until dough is about 1/2" thick.
Cut the dough into 12 rectangles, place onto a piece of parchment and allow to rise for another 30 minutes.
While the dough is rising, heat your oil to 375 degrees F. Using a candy thermometer really really helps when frying donuts.
Gently drop 2-3 donuts into the pot at a time and cook for 1-2 minutes, flip and cook an additional 1-2 minutes. Remove from pot and allow to cool on a metal cooling rack or a paper towel lined plate. Repeat with remaining donuts.
While the donuts are cooling, combine all the maple glaze ingredients. Once the the donuts are cool enough to handle dip the tops of the donuts into the glaze and enjoy!