Preheat the oven to 350°F. In a large bowl, beat together the brown rice syrup, honey, maple sugar, oil, and eggs.
Add the zucchini and vanilla extract. Mix well.
In a separate bowl, mix together the flour, baking powder, baking soda, cinnamon, and salt.
Pour the dry mixture and milk into the zucchini mixture, alternating between the two and mix. Fold in cacao nibs.
Grease two 12-cup muffin pans (or use muffin papers) and fill each cup ¾ full with the batter. Bake for 18 to 20 minutes, or until a toothpick inserted into the center comes out clean. Let the cupcakes stand in the pan for 10 minutes before removing.