
Preheat oven to 350°F (177°C). Spray donut pan with non-stick spray. Set aside.
Whisk the flour, baking powder, baking soda, cinnamon, nutmeg, cloves, and salt together in a large bowl. Set aside.
Whisk the melted butter, egg, brown sugar, milk, yogurt, and vanilla together until completely combined.
Pour the wet ingredients into the dry ingredients and whisk until just combined. Do not overmix. The batter will be thick.
Spoon the batter into the donut cavities—fill about halfway.
Bake for 10-11 minutes or until lightly browned. Allow donuts to cool slightly in the pan before transferring to a wire rack.
In a small saucepan over low heat, melt the butter and maple syrup together, then whisk in the sifted confectioners’ sugar.
Cool the glaze slightly and dip each donut. Place on a cooling rack.