Preheat oven to 350 degrees. Place oven rack in the middle. Lightly grease the donut pan with nonstick cooking spray.
In a medium mixing bowl, whisk together the flour, sugar, baking powder, salt, cinnamon, ginger, cardamom, allspice and clove. Set aside.
In a separate large mixing bowl, whisk together the eggs, milk, maple syrup, butter and vanilla. Add the flour mixture. Using a hand mixer on low speed, mix until just combined.
Pour the batter into an 18-inch pastry bag. Cut the tip off the end, and pipe the batter into each mini donut mold, filling them two-thirds full.
Place in the oven and bake for 18 to 20 minutes, rotating the pans halfway through cooking. Remove from the oven, and set onto a cooling rack to cool completely before removing the donuts.
In a small bowl, whisk together the powdered sugar and maple syrup. Add 1 teaspoon of water at a time until you reach desired consistency. Dip the rounded side of each donut into the glaze. Place onto the cooling rack.
In a small bowl, whisk together the sugar and spices. Transfer to a small sieve, and dust the glazed donuts evenly before serving.