Preheat the oven to 350°F (177°C). Spray a donut pan with non-stick spray and set it aside.

In a large bowl, whisk together the flour, baking powder, baking soda, cinnamon, nutmeg, cloves, and salt. In another bowl, whisk the melted butter, egg, brown sugar, milk, yogurt, and vanilla together until fully mixed.

Combine the wet and dry ingredients, whisking until just blended; do not overmix. The batter will be thick.

Spoon the batter into the donut cavities; a large zipped-top bag helps with this. Fill them about halfway.

Bake for 10-11 minutes, or until the edges and tops are lightly browned. Let the donuts cool for a few minutes in the pan before transferring them to a wire rack.

In a small saucepan on low heat, melt the butter and maple syrup. After melting, whisk in the sifted confectioners’ sugar and maple extract. Allow the icing to cool for 2-3 minutes, then dip each donut into the icing.

The donuts are best served immediately. Leftovers can be kept tightly covered at room temperature or in the refrigerator for up to 2 days.