Start by making the pecan pie topping. Combine butter, maple syrup, brown sugar, spices, and salt in a medium saucepan over medium-heat. Once butter has melted, whisk mixture and cook for 1-2 minutes until slightly thickened. Remove from heat and stir in vanilla and pecans until a sticky mixture forms. Transfer to a bowl to cool.

Preheat oven to 350°F. Grease donut pan with cooking spray. 

Whisk together flour, sugars, baking powder, spices, and salt in a large mixing bowl. Stir in milk, oil, melted butter, and vanilla. 

Spoon the batter into the donut pan, OR fill a large ziplock bag with the batter, cut a hole in the corner and pipe into the pan, filling about 3/4 of the way full. Be careful not to overfill, as the donuts will rise. 

Bake for 13-14  minutes or until edges are lightly golden brown.

Make the icing while donuts are cooling. In small saucepan over low heat, melt butter and maple syrup together, whisking occasionally.

Once butter has melted, remove from heat and whisk in powdered sugar and maple extract. Cool for 2 minutes, then dip each donut into the icing. Immediately top with a generous amount of pecan pie topping. Enjoy!