<span></span>Preheat oven to 350F. Lightly grease four 12-cup mini muffin tins. Set aside.
In a large bowl, whisk pumpkin, eggs, sugar, syrup, oil, yogurt, and vanilla until smooth. In a separate bowl, combine flour, pumpkin pie spice, baking powder, and salt. Whisk flour mixture into liquid until just combined.
<span class="mceItemHidden" data-mce-bogus="1"><span></span>Spoon batter into prepared muffin tins, filling cups 3/4 full. Bake donut holes at 350F 10-12 minutes or until a toothpick comes out with moist crumbs sticking to it. Cool donut holes completely then remove from pan and place on a wire cooling rack.</span>
Make the glaze: In a small bowl, whisk sugar, vanilla, cinnamon, and just enough half-and-half cream to make a creamy, drizzly consistency.
Drizzle glaze over cooled donut holes and allow donut holes to set 10 minutes before serving. Enjoy!