Preheat oven to 350 degrees Fahrenheit and spray your donut pan with nonstick cooking spray.
In a large bowl whisk together the dry ingredients: flour, baking soda, baking powder, cinnamon, salt, and sugar.
In a separate small bowl whisk together the wet ingredients: melted butter, eggs, vanilla, and apple cider.
Make a well in the middle of the flour mixture and pour in the wet ingredients. Mix well with a wooden spoon.
Transfer the mixture into a ziptop bag and cut a small hole in the corner. This will help you pipe the mixture into the donut pan. This is optional and you can just carefully spoon it into the donut pan.
Fill each well about half full. If you fill it to the top it will bake as a circle and you will not have a hole in the middle of your donut.
Cook for about 8-10 minutes then let cool completely before topping with icing.
Mix all icing ingredients together in a small bowl. Once the donuts are completely cool you can drizzle with glaze or turn them upside down and dip them in the glaze. Turn them onto a wire rack with parchment paper underneath to catch drips.