Healthier Lemon Poppy Seed Donuts

Preheat the oven to 350 degrees F (175 degrees C). Spray 2 donut pans with nonstick cooking spray.

Place granulated sugar substitute and lemon zest in a bowl. Mix until zest is fully coated with sugar. Add egg, butter, lemon juice, vanilla, and lemon extract. Add almond milk and mix until well incorporated.

Sift flour, baking powder, and salt together. Add to the sugar mixture. Fold in poppy seeds. Divide the batter evenly among the donut pans.

Bake in the preheated oven until a toothpick inserted into a donut comes out clean, 10 to 12 minutes. Cool in the pans for 10 minutes. Remove from the pans and cool completely.

While the donuts cool, make the icing. Mix powder sugar substitute, lemon juice, almond milk, lemon zest, vanilla, and salt together in a bowl. Set a rack over a cookie sheet lined with parchment paper. Dip donuts into the icing and place on the rack until glaze sets, 2 to 3 minutes.