Preheat your oven to 350°F (177°C). Prepare a donut pan by coating it with non-stick spray. Set aside.

To prepare the donuts, combine the flour, baking powder, baking soda, cinnamon, nutmeg, cloves, and salt in a large mixing bowl. In a separate bowl, whisk together the melted butter, egg, brown sugar, milk, yogurt, and vanilla extract until well blended. Gradually incorporate the wet mixture into the dry ingredients, whisking until just combined. Avoid overmixing; the batter will be thick.

Transfer the batter into a large resealable bag and cut off one corner to pipe it into the donut pan cavities, filling each about halfway. If your pan accommodates fewer than 8 donuts, keep the remaining batter at room temperature while the first batch bakes.

Bake for 10–11 minutes, or until the edges and tops are lightly golden. Lightly press a donut to check for doneness—it should spring back when ready. Allow the donuts to cool slightly in the pan before transferring them to a wire rack placed over parchment paper. Repeat with any remaining batter.

For the maple icing, melt the butter and maple syrup together in a small saucepan over low heat, whisking occasionally. Remove from heat and stir in the sifted confectioners’ sugar and maple extract. Adjust with a pinch of salt, if needed. Allow the glaze to cool for 2–3 minutes before dipping the donuts. If the glaze thickens too much, gently reheat it as needed. Dip each donut into the glaze, and double-dip for a thicker coating if desired. Place the glazed donuts back on the rack to let the excess drip off.

Serve the donuts fresh for optimal flavor and texture. Store leftovers in a tightly covered container at room temperature or in the refrigerator for up to two days.