Heat oven to 375°F. Line 12 muffin cups with paper baking cups or spray with nonstick cooking spray. In large bowl, combine flour, brown sugar, baking powder and salt; mix well.
In small bowl, beat egg until foamy. Add 1/2 cup milk, applesauce, oil and 2 tablespoons maple flavor; blend well. Add to flour mixture; stir just until dry ingredients are moistened. Stir in dates. Fill paper-lined muffin cups 3/4 full.
Bake at 375°F. for 19 to 22 minutes or until toothpick inserted in center comes out clean. Immediately remove from pan.
In small bowl, blend all glaze ingredients, adding enough milk for desired drizzling consistency. Drizzle over warm muffins. Serve warm.