In a large bowl, with a wooden spoon or in a stand mixer using the dough hook, combine flour, sugar, yeast and salt. Add milk mixture and stir until dough forms into a ball, about 3 minutes. On a floured work surface, knead dough for 2 minutes or until smooth. Place in a lightly oiled bowl. Cover with a damp cloth and let rise for 1 hour in a warm and humid place.
On a floured work surface, cut dough in half. Roll out dough, one piece at a time, to a 6 to 8-mm (1/4-inch) thick sheet. Cut doughnuts with a 7.5-cm (3-inch) round cookie cutter. Place on a floured cookie sheet. Reuse scraps. Cover with a dry cloth and let rise for 30 to 45 minutes in a warm and humid place or until doubled in size.
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