Preheat the oven to 375 F degrees.

Spray the donut tray with cooking spray and set aside.

In a small bowl mix together the yogurt, melted butter, milk, eggs and vanilla extract.

In the bowl of your mixer, mix all the dry ingredients, so the flour, sugar, baking powder, nutmeg, cinnamon and salt. Add the wet ingredients to the dry ingredients and mix on medium for a minute or so until everything is nicely incorporated.

Transfer the donut dough into the piping bag, keep in mind it's quite sticky. Now carefully pipe the donut dough into each donut form.

Bake the donuts in the oven for about 20 minutes, or until the top is slightly golden brown. Take them out, let them cool for a couple minutes, then turn them over onto your work surface.

Whisk all icing ingredients together.

Dunk the donuts in the maple icing, then sprinkle with some crumbled bacon.