Preheat the oven to 400℉. Line a 12-cup muffin pan with paper liners or lightly grease with butter or non-stick cooking spray. Set aside.,

In a large mixing bowl, use the back of a fork to mash the banana together with the egg until completely combined and only small lumps remain.,

Use a spatula to stir in the vanilla, orange zest, spices and salt.,

Add the oil, molasses and milk, stirring until completely combined between each addition.,

Add the sugars and stir to combine.,

Add the baking powder and baking soda and stir to combine.,

Fold in the flour until just mixed. Do not overbeat.,

Use a cookie scoop to divide the batter evenly between the muffin cups, about 3/4 full.,

Bake for 10 minutes at 400℉. Turn the oven temperature down to 375℉, turn the muffin pan around, and bake for an additional 7-9 minutes until the muffin tops are set and a cake tester inserted into the center of the muffins comes out clean.,

Let cool in the muffin tins for 5 minutes, then transfer to a baking rack to cool completely. Serve warm or at room-temperature.,

In a small bowl, stir together the powdered sugar and milk until the glaze is smooth and creamy. Add more or less milk to create a thicker/thinner consistency if preferred. Stir in the maple syrup and vanilla.,

If Glazing: While the muffins are still warm, dip the tops of each in the glaze, then place on a baking rack to cool/harden. If Frosting: Wait for the muffins to fully cool, then use a knife or small offset spatula to spread on frosting.