Preheat the oven to 350˚F (175˚C). Spray an 8-inch (at least 2-inch high) round cake pan with baking spray, rub inside surface of pan with a paper towel to cover evenly with the spray. If your cake pan is lower than 2-inches, use a 9-inch round cake pan). Line bottom of pan with parchment paper and spray parchment paper lightly. Set aside.
In a medium-large bowl, combine the yogurt, sugar, and eggs, and whisk together until well blended.
Add the flour, baking powder, salt and spices and mix until all flour is combined.
For the glaze - Combine the maple syrup, powdered sugar and vanilla in a small bowl and whisk until smooth. With a pastry brush, gently brush the glaze all over the cake. Just keep going over the cake with more layers till the glaze is gone. It will seem like a lot at first, but just keep going. Some of it will drip off, but most of it will soak in. Allow cake to cool completely. Sprinkle with powdered sugar, if desired.