Preheat your oven to 350°F (175°C). This ensures that the donuts bake evenly and rise properly.

In a large mixing bowl, combine the almond flour, coconut flour, baking powder, baking soda, and salt. Whisk together until well combined. This helps to aerate the flours and ensures even distribution of the leavening agents.

In another bowl, whisk together the maple syrup, eggs, applesauce, and vanilla extract until smooth. This mixture will provide moisture and sweetness to the donuts.

Pour the wet ingredients into the dry ingredients and mix gently with a spatula until just combined. Be careful not to overmix, as this can lead to dense donuts.

Grease your donut pan with cooking spray or oil to prevent sticking. Using a piping bag or a zip-top bag with the corner snipped off, fill each donut cavity about ⅔ full with the batter.

Bake in the preheated oven for 12-15 minutes, or until the edges are golden and a toothpick inserted into the center comes out clean. This ensures that the donuts are cooked through without being dry.

Allow the donuts to cool in the pan for about 5 minutes before transferring them to a cooling rack to cool completely.

In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Adjust the consistency by adding more milk for a thinner glaze or more powdered sugar for a thicker glaze.

Once the donuts are completely cool, dip the tops into the glaze and let the excess drip off. Place them back on the cooling rack to allow the glaze to set.