Preheat oven to 350F. Line a 9x5 loaf pan with parchment paper, letting it hang over the sides.

In a large bowl, whisk melted butter, pumpkin, yogurt, eggs, sugar, maple syrup, and vanilla until smooth.

In a separate bowl, combine flour, baking soda, baking powder, salt, and spices.

Fold the flour mixture into the liquid until the batter is just combined. Scrape batter into the prepared pan and smooth the top.

Bake the bread for 45-50 minutes or until a toothpick inserted in the middle comes out clean. Cool bread completely on a wire cooling rack.

In a small bowl, whisk powdered sugar, syrup, and just enough milk to achieve a drizzling consistency.

Pour glaze over the pumpkin bread and let stand for 10 minutes before slicing and serving.