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Whisk together the soy milk, agave, oil and yeast. Add the flour and salt and beat on low with an electric mixer until the dough just comes together. Turn up to medium and beat 3 minutes more. Cover and let rise in a warm place, 45 minutes.
Meanwhile, preheat the oven to 350 degrees F. Spread some flaked coconut on a baking sheet and toast in the oven until golden brown, about 6 minutes. Set aside to cool.
Fold the dough and continue to let it rise until it doubles in size, about 45 minutes. Lightly grease several baking sheets. Tear off a 1-ounce piece of dough and roll it into a ball; poke a hole in the center with your finger and stretch it out a little. Place on one of the greased baking sheets and continue with the remaining dough. Let rise until puffy, about 20 minutes.
For the glaze: Stir together the coconut milk, sugar, and vanilla bean in a large pot and heat over medium heat until thick.
Meanwhile, bring several inches oil to 350 degrees F in a large Dutch oven. Fry several doughnuts at a time until golden brown, 2 to 3 minutes per side. Transfer to a rack. Dip one side of each warm doughnut in the glaze, then sprinkle with toasted coconut. Serve immediately.