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

Stir the flour, baking powder, baking soda, salt, cinnamon, and pumpkin pie spice together in a large bowl until mixed.

In another bowl, mix the oil, brown sugar, eggs, pumpkin, milk, and vanilla until combined.

Pour the wet ingredients into the dry ingredients and gently mix until just combined.

Spoon the batter into the donut pan or place the batter into a ziploc, cut off the corner, and pipe into the donut pan.

Bake for about 10 minutes, then remove from the oven and let cool in the pan for 2 minutes. Remove from the pan and cool on a wire rack.

For the glaze, warm the butter, brown sugar, and milk together in a medium saucepan over medium heat. Whisk until combined and bring to a slow simmer for about 1 minute. Remove from heat.

Add the vanilla and powdered sugar to the glaze, whisk until smooth. If there are chunks, return to low heat to stir until smooth.

Place a wire rack over a baking sheet or parchment to catch excess glaze. Dip the tops of the donuts in the glaze and place back on the wire rack to set.

If the glaze firms up, return to low heat to melt again before dipping.