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Preheat the oven to 350°F. Line a 12-cup muffin pan with liners or spray it well with nonstick cooking spray.
In a large bowl, whisk together the flour, sugar, baking powder, salt, cinnamon, and nutmeg.
In a separate bowl, whisk together the milk, egg, melted butter, and vanilla.
Pour the wet ingredients into the dry ingredients. Stir just until no large lumps remain. The batter will be somewhat thin.
Divide the batter evenly among the muffin cups, filling each about two-thirds full.
Bake for 20 to 24 minutes, or until a toothpick inserted into the center comes out with a few crumbs. Let the muffins cool in the pan for 5 minutes, then transfer them to a wire rack to cool.
In a wide, shallow bowl, whisk together the confectioners' sugar, melted butter, maple syrup, maple extract, and salt. Add the hot water, 1 tablespoon at a time, until the glaze is smooth and about as thick as honey.
Hold a muffin by the bottom and dunk the top into the glaze. Lift it out and let the excess glaze drip back into the bowl. Place the muffin on a wire rack.
Let the first coat of glaze set for 10 to 15 minutes. For a thicker glaze, dunk the muffins a second time. Let the glaze set for about 30 minutes, or until shiny and dry to the touch.