Preheat the oven to 375°F and grease an 8×8 pan.
In a large bowl, whisk together the eggs, milk, pumpkin puree, maple syrup, oil, and vanilla extract.
Stir in the rolled oats, pumpkin pie spice, baking powder, and pinch of salt.
Pour the batter into the greased baking pan and spread into an even layer. Bake for 32-35 minutes or until the tip of a knife comes out clean and it's lightly golden brown around the edges.
In a small bowl, whisk the yogurt, maple syrup, and pumpkin pie spice until smooth.
Let the oatmeal cool down for a few minutes, then drizzle with the maple yogurt glaze. Cut into squares and enjoy!