1. Preheat your oven to 350°F (175°C) and grease a donut pan thoroughly with non-stick spray or butter.
2. In a large mixing bowl, whisk together the dry ingredients: all-purpose flour, baking powder, baking soda, ground cinnamon, nutmeg, cloves, and salt, until well combined.
3. In a separate mixing bowl, whisk together the wet ingredients: melted butter, egg, brown sugar, milk, yogurt or sour cream, vanilla extract, and maple syrup, until smooth.
4. Gradually add the wet ingredients into the bowl of dry ingredients, stirring gently until just combined. Avoid overmixing to keep the donuts soft.
5. Fold in the toasted pecans, ensuring they are distributed evenly throughout the batter for added crunch in every bite.
6. Transfer the batter to a piping bag or a plastic bag with a snipped corner, and pipe it into the prepared donut pan, filling each cavity about three-quarters full.
7. Place the donut pan in the preheated oven and bake for 10-11 minutes, or until the donuts spring back when lightly touched.
8. Allow the donuts to cool in the pan for a few minutes, then transfer them to a wire rack to cool completely.
9. While the donuts are cooling, prepare the maple glaze by whisking together powdered sugar, maple syrup, and a splash of vanilla extract. Add milk a teaspoon at a time, if needed, to achieve a thick, pourable consistency.
10. Dip the cooled donuts into the glaze, coating the tops evenly, and let any excess glaze drip off. Optionally, sprinkle additional toasted pecans on top for garnish.
11. Allow the glaze to set for a few minutes before serving. Pair your Baked Maple Pecan Donuts with coffee or tea for a delightful treat.