Preheat oven to 350 degrees. Spray cooking spray in a donut pan and set aside.
Add pancake mix to a large bowl. In a smaller bowl, mix together milk, banana, maple syrup and peanut butter. Add to pancake mix and mix well. Fold in chocolate chips.
Fill slots 2/3 full and baked for 12-15 minutes, or until golden (I made 8 donuts).
Let cool.
To make glaze, combine all ingredients in a shallow bowl. Dip tops on donuts in glaze and let hardened. Drizzle dark chocolate on top, if desired.