In a large bowl, whisk together all-purpose flour, sugar, instant yeast, baking powder, and salt until everything is well combined and uniform in texture.

Pour in the unsweetened plant-based milk and vanilla extract, and mix until a soft, sticky dough begins to form.

Transfer the sticky dough to a floured surface. Knead for 5-7 minutes until the dough is soft, smooth, and elastic.

Place the kneaded dough in a lightly greased bowl, cover it with a towel, and let it rise in a warm spot for about 1.5 hours, or until doubled in size.

Once risen, gently punch down the dough to release air, divide it into 6 equal parts, roll each piece in sesame seeds, and flatten into discs.

In a deep pan, preheat enough neutral oil to fully submerge the donuts until it bubbles when tested with a chopstick.

Carefully place each disc into the hot oil and fry, flipping every 5-7 seconds, until they puff up and reach a golden-brown hue.

Once cooked, use a slotted spoon to remove the donuts from the oil. Let them drain on paper towels and cool for at least 5 minutes before serving.

Enjoy your Bánh Tiêu warm, plain, or with your choice of sweet or savory fillings!