Preheat the oven to 350 degrees Fahrenheit. Generously grease a doughnut pan and set aside.
In a small bowl combine flour, baking powder, baking soda, spices, and salt. In a separate bowl whisk together maple syrup, apple cider, apple sauce, canola oil, and vanilla extract. Add wet ingredients to dry and mix until just combined.
Spoon or pipe batter into the prepared doughnut pan, filling each mold about 3/4 full.
Bake for 8-10 minutes, until doughnuts springs back when gently pressed. Remove from oven and let cool in pan for a few minutes before transferring doughnuts onto a cooling rack to cool completely.
To make glaze, whisk together powdered sugar and apple cider in a small shallow bowl. In a separate bowl, combine ingredients for cinnamon sugar topping.
Once doughnuts have cooled, dip the tops of each doughnut into the glaze. Immediately sprinkle with cinnamon sugar.