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Preheat oven to 350 degrees. Grease a donut pan and set aside.
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With a mixer, cream butter until light and fluffy, about 1-2 minutes. Add in sugar and beat until well combined and white in color. Add in the egg, and beat until combined.
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In a separate bowl, sift together flour, baking powder, and salt. Set aside.
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In a separate bowl, mix together milk and vanilla extract.
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Alternately stir the flour mixture and milk mixture into the butter mixture, beginning and ending with the flour mixture.
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Once just combined (be careful not to overmix), scoop batter into a piping bag and fill each donut cavity about 3/4 of the way full.
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Bake for 10-12 minutes, or until an inserted toothpick comes out clean.