Preheat your oven to 350°F (175°C) and lightly grease a doughnut pan.

In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, salt, and cinnamon until well combined.

In another bowl, mix the milk, melted butter, eggs, and vanilla extract until smooth.

Pour the wet ingredients into the dry ingredients and stir until just combined. Be careful not to overmix.

Spoon the batter into the prepared doughnut pan, filling each cavity about 2/3 full.

Bake for 10-12 minutes or until the doughnuts are golden brown and a toothpick inserted into the center comes out clean.

Allow the doughnuts to cool in the pan for 5 minutes before transferring them to a wire rack to cool completely.

While the doughnuts are cooling, whip the heavy cream and powdered sugar together until soft peaks form.

Once the doughnuts are cool, spread a layer of whipped cream on top of each doughnut.

Sprinkle the granulated sugar evenly over the whipped cream topping.

Using a kitchen torch, carefully caramelize the sugar until it forms a crispy, golden crust. If you don’t have a torch, you can place the doughnuts under the broiler for a minute or two, watching closely to prevent burning.