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 evenly blended.
03 - In a separate bowl, whisk eggs, milk, pumpkin puree, melted butter, and vanilla extract until completely smooth and incorporated.
04 - Pour wet ingredients into dry ingredients. Stir gently until just combined—batter will remain slightly thick. Avoid overmixing to prevent tough texture.
05 - Transfer batter to a piping bag or large zip-top bag with corner snipped. Pipe evenly into donut cavities, filling each about 3/4 full.
06 - Bake for 20-25 minutes until donuts are puffed, set, and lightly golden. Allow to cool in pan for 5 minutes before removing.
07 - Whisk powdered sugar, maple syrup, and salt together. Add milk 1 teaspoon at a time until thick but pourable consistency forms.
08 - Dip tops of completely cooled donuts into glaze, letting excess drip off. Return to wire rack until glaze sets, about 15-20 minutes.