Preheat oven to 375 degrees F. Spray 6-well donut pan with cooking spray.

In mixing bowl, whisk together milk and apple cider vinegar. Let sit for 2-3 minutes before whisking in oil and vanilla.

In separate bowl, sift together flour, cocoa powder, baking powder, baking soda, sugar and sea salt.

Stir dry ingredients into bowl with wet ingredients until just combined and batter is thick and smooth, about 2-3 minutes.

Spoon batter into piping bag and pipe into prepared pan, filling wells about 3/4 full.

Bake 10-13 minutes or until inserted toothpick comes out clean.

Remove from oven and cool for 5 minutes before transferring to rack to cool completely.

In wider, shallow bowl, whisk together powdered sugar, cocoa powder, almond milk and vanilla until smooth. (Note: For thicker glaze, add additional powdered sugar 1 Tbsp. at a time until desired consistency. For thinner glaze, add additional milk 1 Tbsp. at a time until desired consistency.)

Dip each donut into glaze and set on rack. Sprinkle on crushed graham crackers.

Place marshmallow on each donut. Using kitchen torch, toast each marshmallow before serving.