Preheat your oven to 400°F and coat a donut pan with nonstick spray. In a large mixing bowl, combine flour, baking powder, pumpkin pie spice, salt, and baking soda.

In the bowl of an electric mixer fitted with the paddle attachment, beat together the butter and sugar on medium-high speed until well combined, about 1-2 minutes. Add the eggs one at a time, mixing well after each addition. Then, beat in the pumpkin and vanilla extract until just combined. Gradually add the flour mixture to the butter-sugar mixture at low speed, mixing just until incorporated.

Scoop the batter evenly into the prepared donut pan. Bake in the preheated oven for 10-12 minutes, or until the donuts are lightly browned and spring back when touched.

To prepare the glaze, heat maple syrup in a small saucepan over medium heat until it reduces to ½ cup, about 5 minutes. Whisk in the butter, vanilla extract, and salt until the butter has melted. Then, gradually whisk in the confectioners' sugar until the mixture is smooth.

Once the donuts are done, let them cool for 10 minutes before dipping the tops into the glaze. Allow the glaze to set before serving. Enjoy warm or at room temperature!