Preheat oven to 350 degrees and spray a mini donut pan with non-stick cooking spray. In a large bowl, whisk eggs, then slowly add melted butter and whisk until slightly thickened. Add in milk and yogurt and whisk until blended. Add dry pancake mix and whisk until smooth.
Place 1 Tbsp of batter into each donut well and spread evenly. Bake 10-12 minutes until the edges begin to turn golden brown. Remove from oven, allow donuts to cool 5 minutes in the pan, then carefully remove and cool completely on a wire rack. Repeat with remaining batter.
To make the glaze, in a large bowl, whisk together the powdered sugar and slowly add the milk and vanilla and continue whisking to make a smooth glaze. Add the Color Kitchen dye packet and mix until color is fully blended. Set aside. Place the top of each donut into the glaze, twisting slightly to evenly coat. Place back on the cooling rack.
Use natural sprinkles as a garnish on top of mini donuts. Take the bamboo stick and slide through the center of the mini donut. Do this for 4 on each stick.