Preheat your oven to 350°F (175°C). Grease a muffin tin or line with paper liners.
In a large mixing bowl, whisk together the all-purpose flour, granulated sugar, brown sugar, baking powder, salt, cinnamon, and nutmeg until evenly combined.
In another bowl, whisk together the milk, egg, melted butter, and vanilla extract until well combined.
Pour the wet ingredients into the dry ingredients and gently stir until just combined. Be careful not to overmix; a few lumps are okay.
Divide the batter evenly among the 12 muffin cups, filling each about two-thirds full.
Bake in the preheated oven for 15-18 minutes, or until a toothpick inserted in the center comes out clean.
While the muffins are baking, in a small bowl, mix together the maple syrup and powdered sugar until smooth to create the glaze.
Once the muffins are done, allow them to cool in the pan for about 5 minutes before transferring them to a wire rack. While they’re still warm, dip the tops of the muffins into the maple glaze, allowing the excess to drip off.
Let the glaze set for a few minutes before serving.