Baked Maple Glazed Doughnuts

Name: Baked Maple Glazed Doughnuts
Prep time: 20 min
Cook time: 20 min
Total time: 40 min
Cuisine: American
Ingredients: 4 tablespoons salted butter, melted; 1 tablespoon vanilla extract; 2 large eggs, at room temperature; 1/3 cup maple syrup; 1/4 cup packed dark brown sugar; 1/2 cup milk; 2 cups whole wheat pastry flour ((or all purpose)); 1 1/2 teaspoons baking powder; 1 teaspoon baking soda; 1 teaspoon ground cinnamon; 1/4 teaspoon ground cardamom; 1/2 teaspoon kosher salt; 4 tablespoons salted butter; 1 cup powdered sugar; 1 teaspoon vanilla extract