Pre-heat oven to 350˚F (170˚C). Grease donut pan with coconut oil.
In a large bowl, sift together the flour, baking soda, baking powder, salt, and pumpkin pie spice.
Stir in the milk, coconut sugar, vanilla extract, apple cider vinegar, olive oil, and pumpkin puree. Stir until well combined.
Using a Ziplock bag as a pipeline tool, pour batter inside and cut off about a 1/2 in. of one of the corners of your bag. Carefully pour in your batter into the donut pan. If the batter is looking a little uneven, you can carefully shake it to avoid having a bumpy donut.
Bake for 18 minutes or until a toothpick inserted in the donuts comes out clean. Let cool for 15 minutes before removing them from the pan.
Icing
Pour icing sugar, maple syrup, pumpkin spice, and milk and whisk together until smooth.
Once donuts have cooled, dip away! Refrigerate and enjoy!