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Preheat oven to 375.
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In mixing bowl, cream together the sugars with the butter until smooth.
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Add in pumpkin puree, pumpkin pie spice and vanilla, blend until smooth.
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Mix in flour and baking soda just until blended.
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Drop rounded tablespoonfuls onto ungreased nonstick cookie sheet about 3" apart.
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Bake for 15 minutes, cool on wire rack.
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For the glaze, mix together the powdered sugar, maple syrup and vanilla to make glaze. Once totally cooled, drizzle with desire amount of glaze.
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Tip: These cookies taste a bit boring fresh out of the oven, but if you store them overnight in an airtight container, the flavor of the spices intensifies greatly! I glaze before serving, so they look pretty once plated!