Spray your donut pan (if you don't have a mini donut pan, a regular sized one should work fine, you might just have to cook a little longer!) and preheat your oven to 425 degrees.

In your first bowl, mix the first 6 ingredients and set aside.

In another large bowl or your stand mixer, add the oil, egg, sugar, and vanilla until well incorporated. Once mixed, add in the pumpkin puree and keep mixing until mixture is consistent. 

Add the dry ingredients to the wet ingredients, and mix until combined. Spoon or pipe your dough into the donut pan. I've found that my batter is pretty thick, so I think it's easiest to just spoon the batter into the pan and push it in with my fingers. Some batter may be eaten in this process :)

Bake the donuts at 425 degrees for 6 minutes, then lower the temperature to 350 degrees and bake for another 7-8 minutes. Pull the donuts from the oven and let cool until they are cool enough to transfer to a wire rack. 

Repeat with the second half of the batter (my mini donut pan makes a dozen at a time).

For the icing: mix milk, cream cheese, and powdered with your hand mixer or stand mixer until fully combined. Add in the cinnamon and maple syrup and continue to mix until icing is consistent. 

Once the donuts are cool, you can drizzle the glaze over the top of your donuts, or save the glaze for dipping when ready to eat. Enjoy!