In a large mixing bowl, whisk together the flour, baking powder, and salt.
In a small bowl, combine 2 tbsp of almond milk, sugar, dry yeast, and vanilla extract. Once fully combined, transfer to the bowl of flour and add the rest of the almond milk and the vanilla extract.
Knead for 5-7 minutes, or until the dough is smooth and just slightly sticky. If it's too sticky add one tablespoon of flour at a time. If it's too dry, add more almond milk.
Cover the dough with plastic film to touch and proof in a warm place for about 1 hour and 30 minutes, or until the dough has doubled in size.
Deflate the dough and divide into 6 balls. Roll each ball into the white sesame seeds and then flatten into a 3-4 mm thick disc. Repeat with the remaining balls.
Heat the oil in a deep saucepan over medium heat. Once hot, fry one disc at a time, flipping it using two wooden spatulas (or chopsticks) every 5-7 seconds. The disc will start to take a golden brown color and puff up like a balloon. Once golden brown, remove from the oil and transfer to a plate lined with kitchen paper towel to remove excess oil. Repeat with the remaining discs.
Enjoy warm as is, or make a cut to fill with chocolate spread or caramel sauce! These donuts are best served the same day but will keep for up to 2 days in an airtight container at room temperature.