Combine 2 cups flour, undissolved yeast, sugar, salt and cinnamon in a kitchen aid with dough hook attachment or a large mixer bowl. Heat milk and butter to very warm (120 degrees to 130 degrees F). Add to flour mixture with egg yolks; beat for 2 minutes at low speed. Continue adding remaining flour, until soft dough forms.
If using Kitchen aid, knead with dough hook or knead on a lightly floured surface until smooth and elastic (about 4 to 6 minutes). Cover counter lightly with flour and let dough rest for 10 minutes.
Deflate dough and roll out on a lightly floured counter into a 12-inch circle, about ½-inch thick. Using a 3-inch donut cutter, cut out as many rounds as possible. Place doughnuts about 2 to 3 inches apart on lightly greased or parchment lined baking sheet. Re-roll and cut remaining dough. Cover doughnuts and let rise for 45 minutes to 1 hour.
Heat at least 2 inches of oil in a deep fryer or deep pan to 350℉. Fry 2 to 3 doughnuts at a time, turning occasionally until well browned, about 2 to 3 minutes. Remove from oil and drain on paper towels. Cool a few minutes, then dunk the doughnuts in the glaze and sit on wire rack with a sheet of wax paper beneath to catch drippings. Serve warm.
For Apple Cider Glaze: Boil apple cider in a small saucepan until reduced in half, about 7 to 10 minutes. I did this while frying the doughnuts and it was ready by the time I was ready to dunk.