Preheat oven to 350 degrees and grease a donut pan. Combine the milk and vinegar and set aside for at least five minutes. Combine the flour, baking powder, salt, vanilla bean seeds, and cinnamon. Make a well in the center of dry ingredients and add in the applesauce, coconut oil, milk, and maple syrup. Fold the dry ingredients into the wet until everything is combined. Distribute the dough between the pan and bake for 12 minutes or until browned. Remove from oven and let cool completely.