Preheat oven to 350° F and spray a standard muffin pan with cooking spray, or use paper liners.

In a large bowl whisk together the flour, baking soda, salt, and spices. In a small bowl whisk together the pumpkin purée, maple syrup, milk, eggs, and oil.

Pour the wet ingredients into the dry and fold together until almost combined with a rubber spatula. Fold the pecans into the batter then distribute it evenly into the prepared muffin pan.

Place the muffin pan on the middle rack of the oven and bake for 15-20 minutes or until a toothpick inserted in the center comes out clean. Remove the muffins from the oven and let them cool on a wire cooling rack for at least 10 minutes before glazing.

Whisk together all of the ingredients in a bowl until smooth. Add more powdered sugar if the glaze is too runny or a splash of water or milk if it's too thick. Drizzle over the muffins and top with extra pecans if desired.