Preheat the oven to 350°F (175°C). Spray a 6‑mold donut pan with nonstick baking spray and set the pan aside.
Make the crumb topping: in a small bowl combine 1/4 cup granulated sugar, 3 1/2 tablespoons all‑purpose flour, and 1/4 teaspoon cinnamon. Add 1/4 stick cold unsalted butter, cut into tiny cubes, and work the butter into the dry mixture with a pastry cutter, two forks, or your fingertips until the mixture resembles a coarse meal. Place the bowl in the freezer to chill while you make the batter.
In a large bowl whisk together the dry donut ingredients: 1 cup all‑purpose flour, 1/2 cup light brown sugar (packed), 1/2 teaspoon salt, and 1 teaspoon baking powder.
In a separate medium bowl whisk the wet donut ingredients: 1/2 cup full‑fat sour cream, 2 1/2 tablespoons unsalted butter (melted), and 1 large egg (at room temperature) until smooth and uniform.
Pour or fold the wet mixture into the dry mixture and gently stir until just combined. Do not overmix; stop when there are no large streaks of flour.
Fill the prepared donut pan: spoon or pipe the batter into the 6 molds, filling each mold to about three‑quarters full. Work quickly so the batter stays airy.
Remove the chilled crumb topping from the freezer and evenly divide it over the tops of the filled donut molds.
Bake in the preheated oven for 10–11 minutes, or until the donuts spring back when lightly pressed and are set in the center.
Let the donuts cool in the pan for 10 minutes. After 10 minutes, gently lift the donuts out of the pan and transfer them to a wire rack to cool for a few more minutes.
Make the vanilla glaze: in a small bowl whisk together 1/2 cup confectioners’ sugar, 1/2 tablespoon whole milk, and 1/2 teaspoon vanilla extract until smooth.
Drizzle the glaze over the warm (but not piping hot) donuts and serve immediately.