Preheat your oven to 350°F (175°C).
Grease a donut pan with cooking spray or lightly butter each well to prevent sticking.
Mix the Dry Ingredients:
In a medium-sized bowl, whisk together the all-purpose flour, baking powder, baking soda, cinnamon, nutmeg, ginger, and salt. Set aside.
Prepare the Wet Ingredients:
In another bowl, whisk together the pumpkin puree, granulated sugar, brown sugar, eggs, melted butter, milk, and vanilla extract until smooth and combined.
Combine the Wet and Dry Ingredients:
Gradually add the dry ingredients to the wet ingredients, stirring gently until just combined. Be careful not to overmix, as this can result in dense donuts.
Fill the Donut Pan:
Spoon the batter into the prepared donut pan, filling each well about 2/3 of the way full. Alternatively, you can transfer the batter to a piping bag and pipe it into the pan for a neater presentation.
Bake the Donuts:
Bake the donuts for 10-12 minutes, or until a toothpick inserted into the center comes out clean.
Let the donuts cool in the pan for about 5 minutes before transferring them to a wire rack to cool completely.
Make the Maple Glaze:
In a small bowl, whisk together the powdered sugar, maple syrup, melted butter, vanilla extract, and a pinch of salt until smooth and pourable.
If the glaze is too thick, add a little more maple syrup or milk to achieve your desired consistency.
Glaze the Donuts:
Once the donuts have cooled, dip the top of each donut into the maple glaze, letting any excess drip off.
Place the glazed donuts back on the wire rack and allow the glaze to set before serving.
Serve and Enjoy:
Enjoy the donuts fresh with a cup of hot coffee or tea. These baked pumpkin donuts are best enjoyed the same day but can be stored in an airtight container for up to 2 days.
Serving and Storage Tips:
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