Heat milk in microwave for 30 - 45 seconds. You want it warm, but not boiling hot.
Add the warm milk, yeast, and sugar to the bowl of your stand mixer. If you do not have a stand mixer, add the contents to a large bowl. Let sit for 5 minutes to activate the yeast.
After 5 minutes add the aquafaba, and melted butter to the mix. Next add the flour, and salt, and mix for 5 minutes on medium speed if using the stand mixer. If not using a stand mixer, then mix the ingredients together well in a bowl, then transfer to a floured counter top, and kneed the dough by hand for 5 minutes. The consistency of the dough should be soft, but not sticky.
After the dough has been kneaded, place it in a lightly greased bowl and cover with plastic wrap. Pop it in the oven. You are NOT turning the oven on, just leaving it there to rise. If your oven has a dough proof setting you can turn that on. Leave dough to rise for one hour, or until it has doubled in size.
Once the dough has finished rising, transfer to a lightly floured countertop. I like to divide the dough in half and work it in two batches. It makes it easier to roll out. Roll out one half of the dough to about 1/4- 1/2 inch thick. Using a 3 inch circle biscuit or cookie cutter (or donut cutter if you have one) begin cutting circles. Repeat with other half of dough. You should have a total of about 2 dozen donuts.
Place donuts on cookies sheets, and let rest for about 15 - 20 minutes. They will become bigger as they rest.
While they are resting, heat 2 - 3 inches of oil in a deep skillet or medium sized pot.
Once oil is hot, begin adding the donuts to the oil, 2 or 3 at a time. Fry the donuts for about 20 second on each side then flip. Repeat one more time. This helps them cook though and not burn. If you don't have enough oil in the pan, and they are hitting the bottom, they will easily burn. So make sure to use enough oil!
Allow donuts to cool on a wire cooling rack, placed on top of a paper-towel-lined cookie sheet. Once donuts are cooled, use a chop stick or skewer to poke a hole into the donut on one side. You can kind of turn the chop stick or skewer inside the donut to widen the hole. This is making room for the jelly. You want to make sure you have created enough room for a good amount of filling .
Once all donuts are done frying, mix all of the ingredients for the glaze. If you find the glaze too thick, you can always thin it with some more milk.
Dip one side of the donut in the glaze and place back on the wire rack to allow the excess glaze to drip off.
Once the glaze has set, fill a piping bag, set with a jelly tip or larger frosting tip, with the jelly. Begin piping the jelly into the holes you made in the donuts with the chop stick. Once all the donuts are filled with jelly, you can serve as is, or sprinkle with powdered sugar.