Preheat your oven to 350°F (175°C). Grease a mini muffin pan generously.

In a mixing bowl, whisk together melted butter and maple syrup until smooth. Add yogurt, milk, and vanilla extract, continue whisking until creamy.

Stir in gluten-free flour, baking soda, and salt until no dry streaks remain. Avoid overmixing.

Sift cocoa powder into the batter and fold gently until well combined.

Fill each muffin cavity three-quarters full with batter.

Bake for 9-11 minutes, checking for doneness with a toothpick. They should spring back when touched.

Let the donut holes cool in the pan for 5 minutes, then transfer them to a wire rack to cool completely.

In a mixing bowl, combine powdered sugar and milk, whisking until smooth. Adjust for desired thickness.

Dip each cooled donut hole into the glaze, allowing excess glaze to drip off, then place back on the rack to set.