Preheat the oven to 350 degrees F and grease a small bundt pan well.
In a mixing bowl, whisk together the flour, baking powder, baking soda, pumpkin pie spice, and salt.
In a second bowl, stir the pumpkin puree, granulated sugar, vegetable oil, egg, and milk until smooth.
Pour the wet mixture into the dry ingredients and stir just until combined.
Spoon the batter into the prepared pan and smooth the top.
Bake for 30 to 35 minutes, or until a toothpick inserted in the center comes out clean.
Let the cake cool in the pan for 10 minutes, then turn it out onto a wire rack to cool fully.
In a small bowl, whisk the powdered sugar and maple syrup until the glaze reaches a pourable consistency.
Drizzle the glaze over the cooled cake.