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, granulated sugar, cinnamon, and nutmeg until well blended.
03 - In a separate bowl, whisk eggs, milk, pumpkin puree, melted butter, and vanilla extract until completely smooth.
04 - Pour wet ingredients into dry ingredients and stir until just combined. Do not overmix—some small lumps are acceptable.
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 to cool completely.
07 - Whisk 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 cooled donuts into glaze, allowing excess to drip off. Return to wire rack and let set until glaze firms.