Preheat your oven to 350-degrees Fahrenheit. Prepare a donut tray by spraying non-stick spray. In a medium size bowl, whisk together all your dry donuts ingredients: flour, cinnamon, pumpkin pie spice, baking soda, baking powder and salt.
In a separate medium size bowl, whisk together your wet donuts ingredients: pumpkin puree, oil, milk, apple cider vinegar, sugar and vanilla extract.
Add the wet mixture to the dry mixture and mix until combined well.
Add your mixture into a piping bag, or a Ziplock bag and cut off a small corner. Pipe your batter into the donut mold for about 2/3 full.
Place the donuts in the center of your oven rack and cook for about 14 minutes, or until cooked through (you can check with a toothpick, if the center comes back clean, they are cooked)
Let the donuts cool off for about 10 minutes on a cooling rack. While your donuts are cooling off, start making your glaze by adding the confectioners sugar, maple syrup and maple extract to a bowl. Then slowly add your milk tablespoon by tablespoon. You have to determine the perfect consistency as you pour and whisk. The glaze shouldn’t be too thick or too thin, but just perfect to run your donuts through.
Dip the top of each donut into the glaze and let it set for about 15 minutes. You can add ground cinnamon as an additional topping, this is optional.