Combine milk, yeast, and 1 teaspoon of sugar in a small bowl. Allow the mixture to sit until it begins to foam, about 5 minutes.
Combine flour, cinnamon, cloves, nutmeg, and remaining sugar. Add the yeast mixture, egg, vanilla, melted butter, and maple syrup. Whisk together until the components are fully incorporated and no clumps of flour remain.
Knead the dough by hand on a lightly floured surface until it is only slightly sticky to the touch.
Place the dough in a bowl that has been sprayed with non-stick spray, cover, and allow it to rise for 30 minutes.
Roll dough into a ½-inch thick rectangle on a lightly floured surface and use a glass to cut out circles (approximately 4-inches in diameter). Cut out a small circle in the center of each doughnut using a butter knife or small glass.
Let the cut doughnuts rise for 30 minutes. Meanwhile, prepare the maple glaze by combining powdered sugar, softened butter, and maple syrup. Whisk vigorously until smooth. Set the glaze aside.
Preheat air fryer to 350° Fahrenheit.
Place three doughnuts in the air fryer basket at a time and spritz with non-stick cooking spray. Bake for 3 minutes. Remove the doughnuts from the air fryer and repeat with remaining doughnuts.
Let the doughnuts cool for 5 minutes before dipping in the maple glaze.
Video
Notes
For best results, preheat your air fryer according to the manufacturer's directions.For proper air circulation, do NOT cover the bottom of the air fryer basket.