Preheat the oven to 375 degrees F. Spray a donut pan with nonstick spray and set aside. In a large bowl, whisk together the flour, baking powder, and salt.
In a medium bowl, whisk together the milk, applesauce, eggs, maple syrup and vanilla extract.
Pour the liquid mixture into the flour mixture and stir just until combined. Add the yogurt and stir.
Spoon batter into the donut pan about 3/4 full. Place or sprinkle your topping of choice on each donut.
Bake for about 12-14 minutes until slightly firm and springy. Remove from oven and allow to cool for 10 minutes in the pan.
Gently run a sharp paring knife around each donut to help release it from the pan. Brush the surface of each pancake donut lightly with some maple syrup before serving, if desired. Enjoy right away or freeze until ready to eat.