In a bowl, warm the milk and dissolve yeast with a little sugar. Let it foam for about 5 minutes.

Mix the flour, salt, and remaining sugar in a separate bowl.

Whisk the eggs and melted butter into the yeast mixture.

Combine the wet ingredients into the dry ingredients, mixing until a sticky dough forms.

Knead the dough on a floured surface until smooth, about 5-7 minutes.

Place the dough in a greased bowl, cover it, and let it rise in a warm area until doubled, about 1 hour.

After rising, roll out the dough and cut into circles with a donut cutter.

Allow the cut donuts to rest for about 20 minutes.

Heat oil in a deep fryer and fry donuts until golden brown, about 2-3 minutes per side.

Drain on paper towels and let cool slightly.

In a saucepan, melt brown sugar and cream over medium heat, stirring until combined.

Remove from heat and stir in vanilla extract, mixing well.

Dip the cooled donuts into the caramel glaze, then place them on a wire rack to set.