Chocolate Donut Holes:
Preheat the Oven: Preheat your oven to 350°F (175°C). Spray a mini muffin pan with non-stick spray, ensuring each cavity is well-coated.
Mix Wet Ingredients: In a large mixing bowl, whisk together the melted butter and maple syrup until well combined. Add the Greek yogurt, milk, and vanilla extract, and whisk until smooth. Incorporate the eggs into the mixture, briefly mixing until combined.
Combine Dry Ingredients: In the same bowl, add the gluten-free all-purpose flour, baking soda, and salt. Using a fine mesh strainer, sift the cocoa powder into the bowl. Stir until you have a thick, smooth donut batter.
Fill the Muffin Pan: Using a small cookie scoop, portion the donut batter into each mini muffin cavity, filling them evenly.
Bake: Place the pan in the preheated oven and bake for 9-11 minutes, or until the donut holes are spongy to the touch and a toothpick inserted into the center comes out clean. Let the donut holes cool partially in the pan before flipping them out onto a cooling rack.
Glaze:
Prepare the Glaze: In a mixing bowl, whisk together the powdered sugar and 8 teaspoons of milk (and vanilla, if using) until smooth. If the glaze is too thick, add additional milk, one teaspoon at a time, until the desired consistency is reached.
Glaze the Donut Holes: Dip each donut hole into the glaze, rolling it around until completely coated. Gently shake off any excess glaze back into the bowl, then place the glazed donut holes on the cooling rack. Be sure to place a pan or parchment paper underneath to catch any drips.
Serve: Once the glaze has set, enjoy your soft and delicious gluten-free chocolate donut holes!