Preheat oven to 350 degrees F. Spray a donut pan with cooking spray.

In a large bowl, whisk together the flour, baking powder, ground cinnamon, ground ginger, nutmeg, allspice, ground cloves, and salt.

In a separate large bowl, whisk together the canned pumpkin, brown sugar, vegetable oil, melted butter, eggs, milk, and vanilla until completely combined.

Stir the flour mixture into the pumpkin mixture, stirring until just combined.

Carefully spoon the batter evenly around the circles of the donut rings, filling each nearly to the top.

Bake for about 12 minutes, until donuts spring back when gently pressed and a toothpick inserted into one comes out clean.

Turn the donuts out onto a wire rack and allow to cool.

Prepare the cinnamon sugar coating by melting the butter in one bowl and mixing the granulated sugar and ground cinnamon in another.

Working with one donut at a time, brush a thin layer of melted butter onto the donut before dipping it into the cinnamon sugar, pressing and turning to coat all sides.

Repeat with the remaining donuts. The donuts will keep for up to 4 days in an airtight container at room temperature.