Preheat your oven to 350°F (175°C) and lightly grease or line a mini muffin tin with paper liners.
In a medium mixing bowl, whisk together the all-purpose flour, granulated sugar, baking powder, baking soda, salt, cinnamon, ginger, cardamom, and cloves until well combined.
In another bowl, mix the applesauce, milk, egg, and vanilla extract until smooth.
Gradually add the wet ingredients to the dry ingredients, stirring gently until just combined. Be careful not to overmix; a few lumps are okay.
Use a spoon or a small ice cream scoop to fill each mini muffin cup about ⅔ full with batter.
Bake in the preheated oven for 12-15 minutes, or until a toothpick inserted into the center comes out clean. Let the muffins cool in the pan for about 5 minutes, then transfer them to a cooling rack.
While the muffins cool, prepare the vanilla bean glaze. In a small saucepan over low heat, combine the powdered sugar, milk, vanilla extract, and vanilla bean paste. Stir until smooth and adjusted to your desired glaze consistency.
Once the muffins have completely cooled, drizzle the vanilla bean glaze over each muffin using a spoon.