Preheat oven to 325 degrees. Spray mini doughnut pans {or mini muffin tins} with non stick cooking spray and set aside.

In a large bowl, whisk milk, egg, oil, vinegar and vanilla together. Pour in remaining ingredients and whisk until mostly smooth. Spoon into prepared pans until half full. Bake 4-6 minutes or until just cooked through and barely brown. Cool 5 minutes then turn upside down to remove. Serve warm with maple syrup.