Preheat the oven to 400°F. In a large bowl, whisk together the flour, baking powder, salt, cinnamon, nutmeg, and cloves.
In another bowl, combine the melted butter, brown sugar, granulated sugar, maple syrup, eggs, sour cream, milk, and vanilla extract. Whisk until smooth.
Pour the wet ingredients into the dry ingredients and mix until smooth and fully combined with no lumps. If mixture is dry, add a splash of milk to help bring the dough together.
Spoon or pipe about 1 1/2 tablespoons of batter into each cavity of a greased donut pan, filling them about 3/4 of the way.
Bake for 9 minutes, or until the tops bounce back when lightly pressed. Allow to cool in the pan for 5 minutes before removing to a cooling rack.
While the donuts cool, prepare the glaze. In a bowl, combine powdered sugar, maple syrup, and milk as needed. Whisk until smooth. Adjust the milk and maple syrup as needed to reach your desired taste and dipping consistency.
Dip the cooled donuts into the glaze, allowing excess to drip off. Place on a wire rack to set the glaze, about 1 hour.