Preheat oven to 350 degrees. Spray a 6 cavity donut pan with non-stick cooking spray.

To make the donuts, beat together the peanut butter, sour cream, and brown sugar. Beat in the egg, iced coffee, and vanilla until well combined.

Stir in the flour, baking powder, and salt until combined.

Spoon the mixture into each of the donut cavities. Bake for 8 minutes.

While the donuts are baking, add the maple syrup and peanut butter to a small sauce pan and heat over low heat until the mixture is melted and combined, stirring often. Remove from the heat.

Let the donuts cool for 5 minutes and then dip the tops into the maple peanut butter glaze. Alternately, spoon the glaze over the donuts.

Serve immediately.