For the donuts, preheat oven to 350. Mix all dry ingredients.
Stir in moist ingredients. Pour batter into a gallon-sized plastic bag and cut the corner off. Pipe the batter into a greased mini-donut pan, filling each donut space about ½ full (for me, this was about 22 mini donuts). Bake for about 7-8 minutes. Remove from oven and take each donut out of the pan.
For the glaze, melt 2 tablespoons butter with ¼ cup brown sugar in a small saucepan over medium heat. Bring to a boil and boil for about 2 minutes. Add maple syrup and 1 tablespoon milk and bring back to a boil. Add powdered sugar, using the last tablespoon of milk to help thin out the frosting if needed. Keep over low heat (otherwise it will start to crystallize) and dunk each mini donut into the frosting. Frosting should set almost immediately.
Recipe by Pinch of Yum at http://pinchofyum.com/baked-gingerbread-mini-donuts