To make the cake, preheat the oven to 350 F. Lightly grease a 9-inch round cake pan, cut parchment to fit, and line the bottom of the pan with the parchment paper.

Add the almond butter, pumpkin, sugar, cornstarch, pumpkin spice, vanilla, and baking soda to a food processor and process until smooth and creamy and all of the ingredients are combined, stop to scrape down the sides of the processor if needed.

Transfer to the prepared cake pan and bake for 30-35 minutes, until the sides of the cake start to pull away from the pan. Let cool completely.

To make the glaze add the sugar, milk, maple syrup and vanilla to a small bowl and whisk to combine. Drizzle the glaze over a completely cooled cake. Serve immediately or let the glaze set slightly if desired.