Baked pumpkin donut holes dipped in a simple, crackly glaze.
Preheat oven to 375 degrees. Spray a mini muffin pan with non-stick spray. Add the dry ingredients to the bowl of a stand mixer fitted with the whisk. Mix to combine. Add the pumpkin, egg, milk, and oil to the bowl and beat until well combined. Use a medium cookie scoop to scoop batter into pan and bake for 8-10 minutes or until a tester comes out clean. While the donuts are cooling in the pan, prepare the glaze. Whisk the powdered sugar in a small bowl to break up any clumps. Whisk in 3 tablespoons of milk. Add an extra tablespoon if needed to make a smooth glaze. Dip the donut holes (slightly warm or cool) in the glaze and let sit for 5 minutes to firm up.