1 tablespoon active dry yeast
1/4 cup warm water (110-115 degrees F)
3 tablespoons sugar, divided
1 cup whole milk, room temperature
1 tablespoon pure vanilla extract
1/2 vanilla bean, seeds scraped
3 large egg yolks, room temperature
1/4 cup unsalted butter, melted and cooled
3 1/2 cups all-purpose flour, sifted – plus more for kneading
1 1/4 teaspoon salt
vegetable oil for frying

glaze
1 1/2 cups confectioners’ sugar
2 tablespoons whole milk
1/2 vanilla bean, seeds scraped