Preheat oven to 325 degrees and spray a 12-cup donut hole or mini muffin pan with nonstick cooking spray, or lightly spray the cups of a cake pop maker and heat on Medium.
Combine 1/2 cup sugar and cinnamon in a small bowl and reserve.
In a large bowl, whisk together the flour, remaining 1/2 cup sugar, brown sugar, baking powder, pumpkin pie spice, and salt until blended. Add the pumpkin, maple syrup, eggs, oil, and vanilla and stir until just combined; do not overmix.
Spoon 1 rounded tablespoon of batter in each opening of prepared pans. Bake for 8 to 10 minutes, or until donut holes spring back lightly when touched.
Cool in the pan for 5 minutes, remove from pan and transfer to a wire rack. Brush the donut holes with melted butter and dredge in the cinnamon-sugar mixture. Place on the wire rack to dry for 5 minutes.
Repeat process to make 24 donut holes.
Notes
Store the donut holes in an airtight container at room temperature for up to 2 days.