Preheat the oven to 350°F. Grease the donut pans and set aside.
In a small bowl, whisk the flour, baking powder, pumpkin pie spice, baking soda, and salt together. Set aside.
1 ½ cups (222g) flour*, 2 teaspoons baking powder, 1 teaspoon pumpkin pie spice*, ½ teaspoon baking soda, ½ teaspoon fine sea salt
In a separate, larger bowl, mix both sugars with the melted butter, then add the pumpkin puree, milk, and vanilla extract. Add the dry ingredients to the wet ingredients and stir until just combined.
⅓ cup (67g) light brown sugar, ¼ cup (50g) granulated sugar, 3 tablespoons (42g) unsalted butter, 1 cup (227g) canned pumpkin puree*, ¼ cup (60ml) milk*, ¼ teaspoon vanilla extract
Spoon or pipe the batter into prepared donut pan. Bake for 12-15 minutes. Allow donuts to cool in the pan for 5 minutes before transferring to a wire cooling rack. Cool completely before glazing.
To make the maple glaze:
Melt the maple syrup with the butter in a small saucepan over medium heat, stirring occasionally. Once the butter has melted, remove from heat and stir in powdered sugar, milk, and salt. Allow the glaze to sit for 5 minutes to thicken before dipping cooled donuts in. Allow the donuts to set for a few minutes before serving.
⅓ cup (80ml) maple syrup*, 1 tablespoon (14g) unsalted butter, ¾ cup (90g) powdered sugar, 1 tablespoon milk*, ¼ teaspoon fine sea salt
Notes
I use Bob's Red Mill 1 to 1 flour for gluten free donuts, but you can also use AP flour. No need to adjust the measurements.
Pumpkin pie spice is pretty easy to find in most major grocery stores, but you can also make your own using a blend of cinnamon, nutmeg, ginger, allspice, and cloves.
Be sure to use 100% pumpkin puree, NOT pumpkin pie filling, which has added ingredients.
You can really use any type of milk for this recipe. Whole milk will yield slightly richer donuts but you can use 2% or non-fat, or your favorite non-dairy yogurt.
Make sure you are using pure maple syrup, NOT any syrup with added ingredients or sweeteners.
The glaze will drip off of the donuts while setting on the wire rack, so you may want to place a sheet of parchment paper or paper towels underneath for easy clean-up.