Preheat the oven to 400°F.
To make the batter: In a large mixing bowl, add the flour, dark brown sugar, cane sugar, molasses, baking powder, cinnamon, cloves, ginger, and sea salt and stir to combine the dry ingredients.
Add the egg, milk, yogurt, melted butter, and vanilla extract. Mix on low until combined into a thick batter. Transfer the batter to a piping bag.
Spray the donut pans with canola oil cooking spray. Pipe the batter into the pans, or if you don’t want to pipe, you can also just spoon it into the pans too!
Bake for 12 to 15 minutes, or until a toothpick inserted in the center comes out clean. Allow to cool completely in the pans.
To make the glaze: In a medium bowl, add the powdered sugar and milk and whisk (or use a hand mixer) until you have a smooth glaze.
Using a butter knife of spatula spread glaze on top of each donut and top with white sprinkles.
Store in an airtight container for up to 3 days.