Start by spraying your waffle maker with cooking spray
Take biscuits out and separate them.
Put 1 biscuit in the center of waffle maker and close the lid
Cook the biscuit for about 2 minutes or until golden brown. Repeat with remaining biscuits.
While making the biscuits mix together the powdered sugar, milk, and vanilla with whisk until combined. If you want a chocolate glaze to add the baking cocoa; stir until combined.
Dip at least one side of each donut into the glaze. And place on a baking rack to allow the icing to drip off. I did both sides for a sweeter doughnut. Top with sprinkles if you want.