Preheat oven to 350 degrees. Spray a large, six-cavity donut pan with baking spray. Set aside.
Mix the flour, sugars, baking powder, salt, and cinnamon together in a large bowl.
Mix the milk, yogurt, butter, vanilla and egg together in a separate bowl.
Add the wet ingredients to the dry ingredients and mix just until combined.
Pour the batter into a large zipper top bag. Snip about 1/2-inch off one corner of the bag.
Squeeze the batter into the prepared donut pan, filling about 2/3’rds full.
Place in the oven and bake for 10 to 12 minutes. The bottom of the donuts will be golden brown and the tops will remain light and bounce back when you press them with your finger.
Remove from oven and allow to cool in the pan for 5 minutes. Flip the donuts out onto a wire cooling rack.
For the Glaze
Whisk the glaze ingredients together in a medium sized bowl while the donuts are cooling.
Dip each of the donuts into the glaze and place back on the cooling rack. Let the excess glaze drip off and allow to set.
I’m sure you can use a smaller donut pan, but I have not tried it. I would cut the baking time in half to start and watch them closely until done.
I used pure maple syrup and a bit of maple extract to achieve a more pronounced flavor. Maple flavored syrups are just corn syrup flavored with maple and will not give you a strong enough maple flavor.
I used brown and granulated sugars because brown sugar alone was not quite sweet enough. Adjust to your own tastes.