Preheat oven to 350 degrees F. Grease and flour a 10-inch fluted tube pan; set aside. Prepare cake mix according to package directions, except stir cinnamon and cloves into dry cake mix and substitute applesauce for the water. Stir in apples, raisins, and pecans. Pour batter into the prepared tube pan, spreading evenly.
Bake for 60 to 70 minutes or until a wooden toothpick inserted near the center comes out clean and top springs back when lightly touched. Cool in pan on a wire rack for 10 minutes. Remove cake from pan; cool completely on wire rack.
For icing, in a small bowl stir together powdered sugar and maple syrup. Gradually stir in enough milk to reach drizzling consistency. Spoon icing over cooled cake.