Preheat oven to 375 degrees F. Place liners in 2 12-cup muffin tins, filling 18 of the cups.
Whisk flour, baking soda, baking powder, salt, and spices in a large bowl. Make a well in the center.
In a separate large bowl, whisk coconut oil, pumpkin, yogurt, egg, vanilla, maple syrup, and coconut sugar until completely combined. Pour the wet ingredients into the dry ingredients and mix gently until JUST combined. Be careful not to over-mix the batter (the batter should have lumps).
Scoop the batter into the prepared muffin tins, filling the cups two-thirds full. Bake 15-18 minutes, until the tops are golden brown and a wooden skewer inserted into the center comes out clean.
To make the glaze, whisk powdered sugar with maple syrup until smooth. If glaze seems too runny, add more powdered sugar a tablespoon at a time. Alternately, if the glaze is too thick, add more maple syrup a teaspoon at a time.