Preheat the oven to 350 degrees.
Grease two doughnut pans with nonstick cooking spray.
In a large bowl, whisk together flour, baking soda, baking powder, and salt.
In a separate bowl, whisk together sugar, eggs, lemon extract, lemon zest, lemon juice, and milk until well combined.
Add the butter, and stir to combine.
Stir dry ingredients into the wet ingredients. Mix until just combined.
Gently fold the poppy seeds into the donut batter.
Pour the batter to a piping bag using it to pipe the batter into the donut pans.
Bake the donuts until tops spring back, around 18 to 20 minutes.
Allow the donuts to cool for about 5 minutes in the pan. Transfer them to a wire rack to cool completely.
Once the donuts are cool, prepare the glaze. Whisk together the sifted powdered sugar and lemon juice until smooth. Optional: Add the yellow food coloring and gently stir until combined.
Lightly dip each donut in the glaze, placing it on the wire cooling rack until the glaze hardens.
Serve.