Homemade Jelly Doughnuts

active dry yeast 1/2 cup milk (100 degrees to 110 degrees) 1/3 cup + 1 teaspoon sugar 2 1/4 cups all-purpose flour 3 large egg yolks 2 tablespoons unsalted butter, room temperature 2 teaspoons salt 3 cups vegetable oil 1 cup seedless raspberry jam