Preheat oven to 350℉. Oil donut pans with extra neutral oil (I used avocado oil spray****).
In a medium bowl use a whisk to combine dry ingredients: almond flour, brown rice flour, arrowroot flour, sugar, pumpkin pie spice, baking soda, xanthan gum, and salt.
In a large bowl use a whisk to combine wet ingredients: eggs, pumpkin puree, dairy free milk, neutral oil, apple cider vinegar, and pure vanilla.
Add dry ingredients to wet ingredient bowl. Use whisk until fully combined and smooth.
Add batter to large piping bag (or large zip-topped bag with the corner cut off) or use a large spoon to fill donut pans a little over ½ full.
Place in preheated oven and bake 22-24 minutes until the donut bounces back when lightly pressed (or toothpick inserted in donut comes out with a few moist crumbs).
Remove from oven and let cool in pans until cool enough to touch about 10 minutes. Carefully remove donuts from pans***** and place on cooling racks until completely cool about 10 more minutes.
While donuts cool, make the glaze. In a medium bowl mix powdered sugar, maple syrup, melted butter, dairy free milk, pure vanilla, and salt. It should be thick but easily pourable. You want it to coat but drip off the donuts.
Place a sheet of parchment paper under a wire rack (to catch icing drips). Dunk the tops of donuts one at time in the glaze. Allow excess glaze to drip off and place on a wire rack. Enjoy immediately or allow glaze to firm which takes about 10 minutes.