Heat oven to 350°F. Line cookie sheet with cooking parchment paper.
Separate dough into 8 biscuits. With 1-inch round cutter, cut hole in center of each biscuit. Dip both sides of each biscuit in melted butter; place on cookie sheet. (You can also dip the holes in the butter and place on the cookie sheet.)
Bake 12 to 14 minutes or until golden brown. Remove donuts (and holes) from cookie sheet to cooling rack. Cool about 25 minutes.
In medium bowl, place powdered sugar and maple extract. Add half of the milk; stir until combined. If needed for dipping consistency, stir in remaining milk. Dip each donut (and hole) halfway into icing. Place on cooling rack placed over paper-lined cookie sheet.