Preheat the oven to 350 F. Mix the dry ingredients (flours, baking soda, baking powder, spices, salt, and sugar). In a separate bowl, mix the wet ingredients (pumpkin, oil, maple syrup, milk, and eggs).

Combine the dry and wet ingredients in a large mixing bowl, stirring until just combined. Fill each muffin tin almost to the top with a scoop of batter.

Bake for 20 minutes or until tops are puffy and spring back when pressed. Remove from the muffin pan and let cool before glazing.

For the glaze, melt butter in a saucepan. Stir in powdered sugar, vanilla, and maple syrup. Add water until desired consistency is reached.