Preheat your oven to 350°F (175°C) and prepare a donut pan by greasing it or lining it with parchment paper.

In a large mixing bowl, whisk together the all-purpose flour, granulated sugar, baking soda, baking powder, and salt until uniform and fluffy.

In a separate bowl, mix together the unsweetened plant-based milk, vegetable oil, and vanilla extract until well combined.

Pour the wet mixture into the dry ingredients, folding gently until just combined to avoid overmixing.

Quickly stir in the apple cider vinegar, noting the froth indicating a reaction with the baking soda.

Carefully fill each donut cavity in the prepared pan about two-thirds full with the batter.

Bake for 10-12 minutes, checking for doneness with a toothpick.

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

Once cool, decorate as desired with powdered sugar, glaze, or sprinkles.