01 - Preheat oven to 350°F. Lightly grease a 12-cavity donut pan with cooking spray or butter.
02 - In a large bowl, whisk together sweet rice flour, tapioca starch, baking powder, salt, sugar, cinnamon, and nutmeg until evenly distributed.
03 - In a separate bowl, whisk together eggs, milk, pumpkin puree, melted butter, and vanilla extract until completely smooth and incorporated.
04 - Pour the wet ingredients into the dry ingredients and stir gently until just combined. Avoid overmixing to prevent tough texture.
05 - Transfer batter to a piping bag or large zip-top bag with corner snipped. Pipe batter evenly into donut cavities, filling each about 3/4 full.
06 - Bake for 20–25 minutes until donuts are puffed and lightly golden. Cool in pan for 5 minutes, then transfer to wire rack.
07 - Whisk together powdered sugar, maple syrup, and pinch of salt. Add milk 1 teaspoon at a time until thick but pourable consistency forms.
08 - Dip tops of completely cooled donuts into glaze, allowing excess to drip off. Return to wire rack and let glaze set before serving.