Preheat your oven to 350°F (175°C). Lightly grease your mini muffin or donut hole pan with butter or non-stick spray to prevent sticking.
In a large bowl, whisk together 1 1/2 cups all-purpose flour, 1/2 cup granulated sugar, 2 teaspoons baking powder, 1/2 teaspoon salt, 1/4 teaspoon ground nutmeg, and 1/4 teaspoon ground cinnamon.
In a separate bowl, whisk 1/2 cup milk, 1/4 cup melted unsalted butter, 1 large egg, and 1 teaspoon vanilla extract until smooth and well combined.
Pour the wet ingredients into the dry ingredient mixture. Stir gently until just combined. Be careful not to overmix; a few lumps are perfectly fine.
Spoon the batter evenly into the prepared pan, filling each cavity about 3/4 full.
Place the pan in the oven and bake for 12-15 minutes, or until a toothpick inserted into the center comes out clean. The donut holes should be golden brown and spring back when lightly pressed.
Allow the donut holes to cool in the pan for 5 minutes, then transfer them to a cooling rack to cool completely.
In a small bowl, whisk together 1/4 cup pure maple syrup and 1/4 cup powdered sugar until smooth. The glaze should be thick but pourable.
Dip each donut hole into the maple glaze or spoon the glaze over the top. Place them back on the cooling rack to let the glaze set for about 10 minutes.
Serve these Maple Glazed Donut Holes warm or at room temperature.
