Preheat oven to 375°F (190°C). Grease and flour a 9x13 inch baking pan.
In a large bowl, whisk together the flour, granulated sugar, baking powder, and salt.
In a separate bowl, whisk together the buttermilk, egg, and melted butter.
Pour the wet ingredients into the dry ingredients and mix until just combined. Do not overmix.
Spread the batter evenly into the prepared baking pan.
Bake for 12-15 minutes, or until a toothpick inserted into the center comes out clean.
Let the bars cool in the pan for 10 minutes before transferring them to a wire rack to cool completely.
While the bars are cooling, prepare the glaze. In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Add more milk if needed to reach desired consistency.
Once the bars are completely cooled, drizzle the glaze over the top.
Cut the bars into desired shapes and serve.
Notes
These donut bars can be stored in an airtight container at room temperature for up to 3 days.