01 - Set oven temperature to 350°F. Lightly coat mini donut pan with nonstick spray.
02 - In a large bowl, whisk together flour, sugar, baking powder, baking soda, cinnamon, nutmeg, ginger, and salt until evenly distributed.
03 - In a separate bowl, whisk pumpkin puree, milk, egg, vegetable oil, and vanilla extract until mixture is smooth and homogeneous.
04 - Pour wet ingredients into dry ingredients and gently mix until just combined. Avoid overmixing for optimal texture.
05 - Transfer batter to a piping bag or zip-top bag with corner snipped. Pipe batter into prepared donut pan, filling each mold two-thirds full.
06 - Place pan in oven and bake for 10 to 12 minutes or until donuts spring back when gently pressed. Rest in pan for 2 minutes then transfer to wire rack to cool fully.
07 - In a small bowl, whisk powdered sugar, maple syrup, and 1 tablespoon milk. Add additional milk as needed to achieve thick but pourable consistency.
08 - Dip cooled donuts into glaze and return to wire rack for glaze to set before serving.