Preheat oven to 350 degrees. Spray donut pan with nonstick coating and set aside.
Sift flour, baking powder, baking soda, both sugars, salt and spices together in a large bowl.
In a separate bowl, whisk pumpkin, eggs, oil, milk and vanilla until combined.
Carefully add wet ingredients to dry, stirring with a wooden spoon until just combined. Take care to avoid overmixing. Note: Batter will be thick.
Pipe batter into donut pan, filling cavities 3/4 of the way. For even baking, smooth the top of the batter.
Bake for 11 to 12 minutes or until tops spring back when pressed with a fingertip.
Cool donuts in pan for 3 minutes then remove to a wire rack to cool completely before adding glaze.
Clean donut pan, coat with nonstick spray then repeat the baking process with the remaining batter.