Preheat oven to 350 degrees. Spray your mini muffin pans and set them aside.
In a small bowl, mix the dry ingredients together. In another larger bowl, mix all the wet ingredients. Add the dry to the wet and mix only to combine.
You can use a piping bag and tip as I did to fill the muffin pans, or you can add the batter to a ziplock bag and cut out the corner to fill them.
Place in the oven and bake for 6-7 minutes. These will bake quickly, so make sure not to leave them in for too long!
Remove from the oven and turn them out onto your cooling rack.
For the glaze, add your brown sugar and milk to a small pan. Bring it to a boil over medium heat, stirring occasionally.
Once it boils, let it cook for about 3-4 minutes, stirring occasionally. Turn off the heat and add the butter. Mix until it is melted, then add in the powdered sugar. It will try and be clumpy, so make sure and mix well.
While the glaze is still warm, dip your donuts. Top immediately with the chopped walnuts.
That is it! You are done. Now, sit back and enjoy. You deserve it.