Grease the donut pan with cooking spray and set aside.
To a large bowl, combine the dry ingredients together flour, pumpkin pie spice, cinnamon, baking powder, baking soda, and salt. Set aside.
In another bowl whisk together eggs, brown sugar, oil, vanilla extract, and canned pumpkin.
Add the wet ingredients to the dry ingredients and whisk until well combined. The batter will be thick in consistency.
Transfer the batter to a large Ziploc bag and pipe into a donut pan filling about halfway.
Bake for 10-12 minutes until the donuts spring back when touched.
Transfer the donuts to a wire rack to cool down.
Now prepare the maple glaze. Heat a saucepan with butter, maple syrup, and heavy cream.
Once the butter is melted and everything well-combined add in the powdered sugar in batches and mix it well. The maple glaze turns a thick syrup consistency.
Transfer the glaze to a bowl and dip the top of the donuts on the warm glaze. Allow the excess glaze to drip off by placing the donuts on a wire rack.