Preheat oven to 350F (175C) and spray a 12-cavity donut pan with non-stick baking spray.
In a medium-sized bowl, whisk together flour, sugars, baking powder, baking soda, pumpkin pie spice, cinnamon, and salt.
1 ¾ cups all-purpose flour, ½ cup packed brown sugar, ¼ cup sugar, 1 ½ teaspoons baking powder, ¼ teaspoon baking soda, 1 ½ teaspoons pumpkin pie spice, ½ teaspoon cinnamon, ½ teaspoon salt
In a separate bowl, whisk together pumpkin puree and melted butter.
¾ cup pumpkin puree, 3 Tablespoons butter
Add eggs, milk, and vanilla and stir well.
2 eggs, ⅓ cup milk, 1 ½ tsp vanilla
Add the dry ingredients to the wet ingredients, folding in carefully so as not to over-mix.
Pour the batter into a large Ziploc bag and snip off the corner for a makeshift piping bag.
Pipe the batter into the donut pans, filling each mold ⅔ full.
Bake on 350F (175C) for 10-12 minutes.
Allow donuts to cool for 5-10 minutes in their pan before carefully removing and allowing to cool completely on cooling rack. Allow to cool completely before frosting.
Glaze
In a small bowl, whisk together powdered sugar and pumpkin pie spice.
2 cups powdered sugar, ¼ teaspoon pumpkin pie spice
Add butter, vanilla extract, and water. Stir until combined.
¼ cup butter, 2 Tablespoon water, ½ teaspoon vanilla
Dunk each donut into the glaze and return to cooling rack. Allow glaze to harden before eating and enjoying.