Preheat oven to 350 degrees Fahrenheit. Lightly grease 2 donut pans with cooking spray. Set aside.
In a medium bowl, combine the flour, cocoa powder, baking powder, and salt. Stir with a whisk.
In a separate larger bowl, combine the sugar and butter. Add the milk, eggs, and vanilla. Whisk until well combined. Fold the flour mixture into butter mixture, mixing just until moistened. Be careful not to over mix. The mixture will be thick.
Pour mixture into a large zip-top bag and cut the corner off. Pipe the mixture into the prepared pans, filling each donut mold ⅔ full. Bake for 10 minutes or until the donuts spring back when touched. Allow the donuts to cool in the pans on a wire rack for 10 minutes.
Make the glaze: Combine the confectioner’s sugar, maple syrup, and maple extract in a small bowl. Whisk until smooth. The glaze will be thick. Dip the tops of each donut into the glaze while they are still warm. Return the donuts to a wire rack. Sprinkle with crumbled bacon. Allow the glaze to set before serving.