1. Preheat your oven to 350°F (175°C) and lightly grease a donut pan.
2. In a large bowl, whisk together the dry ingredients: all-purpose flour, baking powder, baking soda, cinnamon, nutmeg, cloves, and salt.
3. In another bowl, combine the wet ingredients: melted butter, brown sugar, egg, milk, and yogurt. Whisk until fully incorporated.
4. Gradually add the wet mixture to the dry mix, stirring just until combined. Avoid over-mixing to prevent dense donuts.
5. Transfer the batter to a large zip-top bag, squeeze out the air, and close the bag.
6. Snip off one corner of the bag to create a small opening.
7. Pipe the batter into each well of the prepared donut pan, filling them about 2/3 full to allow room for rising.
8. Place the donut pan in the preheated oven and bake for 10–12 minutes until the donuts are light golden and spring back when touched.
9. Remove the pan from the oven and let the donuts cool in the pan for a few minutes before transferring them to a cooling rack.
10. Prepare the maple glaze by melting butter over low heat in a small saucepan.
11. Add the maple syrup and stir until well combined.
12. Remove from heat and whisk in powdered sugar and, if using, maple extract. Adjust with milk to reach the desired consistency.
13. Dip the tops of the cooled donuts into the glaze, holding each donut by the edges and giving it a slight twist for even coating.
14. Place glazed donuts back on the cooling rack and allow the glaze to set.
15. Sprinkle optional toppings like shredded coconut, chopped pecans, or crumbled bacon for added texture and flavor, if desired.
16. Serve fresh for the best experience or store properly if consuming later.