Preheat the oven to 350 degrees. Lightly spray donut pans with non-stick spray.
Combine the streusel topping ingredients in a bowl. Using a pastry cutter, or two knives, or clean hands, cut the butter into the mixture until you have pea-size crumbs; set aside.
In a mixing bowl, combine the cake mix, pumpkin puree, eggs and melted butter and mix until combined.
Spoon the batter into a resealable plastic bag and then cut a small piece off of the end to pipe the batter in the prepared pan. If necessary, use a butter knife to spread the donut batter out smoothly.
Sprinkle about one tablespoon of the streusel mixture onto the top of each donut batter. Press the topping very lightly into the batter.
Bake for 10 to 12 minutes or until a toothpick inserted into one of the donuts comes out clean. Let the donuts cool about 5 – 6 minutes before removing them from the pan.
Allow donuts to cool before glazing.
Combine the glaze ingredients together. Start with the minimum amounts of the milk and maple extract. Taste to see if you need more maple extract. If the glaze isn’t the consistency you want to it to be to drizzle over the donuts, add a bit more milk.
Drizzle glaze over donuts and enjoy!
Recipe inspired and adapted from Walking on Sunshine.