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In a small bowl, sprinkle yeast over the warm milk. Stir to combine. Allow to sit until frothy, about 10 minutes.
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In the bowl of a stand mixer fitted with a dough hook or a large bowl, combine the flour, sugar, and salt. Mix in the softened butter, egg, vanilla extract, and yeast with water to for a wet dough. Cover the bowl with plastic wrap and allow to rest until doubled, about 1 hour.
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Grease 6 large muffin tins and preheat oven to 340 degrees F (170 C). Use a spoon to transfer the dough into the prepared muffin tins, about 3/4 full. Use the back of a wet spoon to smooth out the tops. Cover and allow to rise until puffed, about 30 minutes.
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Bake in preheated oven until lightly golden and toothpick inserted in center comes out dry, 25-30 minutes.
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Allow to cool on wire rack to room temperature.
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In a medium bowl, add the powdered sugar. Mix in a drop of the colouring and tablespoon of the water. If too thin, add more powdered sugar. If too thick, add more water. Drizzle over cooled cakes.