Preheat the oven to 350 degrees. Prepare a donut pan by spraying it all over with cooking spray or oil.
Combine the dry ingredients, flour, baking powder, spices, and salt in a mixing bowl.
Combine pumpkin puree, vanilla extract, and oil in a liquid measuring cup.
In the bowl of an electric mixer, beat both sugars and butter.
Add one egg at a time and beat.
Scrape down the sides of the bowl.
Turn the mixer to low and alternate the dry and wet ingredients.
Mix until incorporated, do not beat.
Fill a piping bag with batter. You will have to do this a few times depending on the size of the piping bag.
Cut a medium hole at the bottom and pipe into a greased donut pan.
Bake for 8 minutes in a 350 degree oven.
Let the donuts cool and then make the glaze.
In a small bowl, combine the ingredients to make the glaze and whisk until it's all mixed.
Dip the pretty side of the donut into the glaze and then set it on a wire rack with parchment paper below for the glaze to drip.
Continue until all of the donuts are baked and glazed.