In a large bowl, whisk together the all-purpose flour, granulated sugar, baking powder, cinnamon, nutmeg, ground ginger, ground cloves, and salt.
Add the pumpkin puree, egg, and vanilla extract to the dry ingredients. Stir with a spatula until a thick, sticky batter forms. Do not overmix. The batter should be thick enough to hold its shape when scooped.
Preheat the air fryer to 370 degrees F for 3 minutes. Lightly spray the air fryer basket with cooking spray.
Using a medium cookie scoop or a tablespoon, drop rounded balls of batter into the air fryer basket, leaving about 1 inch of space between each fritter. Lightly spray the tops of the fritters with cooking spray. Cook at 370 degrees F for 6 minutes.
Gently flip the fritters over and cook for another 4 to 5 minutes until they are golden brown on the outside and cooked through in the center. A toothpick inserted in the middle should come out clean.
While the fritters cook, prepare the glaze by whisking together the powdered sugar, maple syrup, and milk until smooth and pourable.
Transfer the warm fritters to a wire rack. Drizzle the maple glaze generously over the top. Let the glaze set for 2 to 3 minutes before serving.