Preheat the oven to 375 degrees F and spray a doughnut pan with cooking spray (you can use a muffin tin if you don't have a donut pan).
Make the glaze: Mix all ingredients until the glaze is smooth, creamy and pours easily from a spoon. You may need to add additional milk or powder sugar to get the right consistency.
Make the doughnuts: In a small bowl, sift the flour, baking powder, salt, baking soda, nutmeg and cinnamon. Set aside.
In the bowl of a stand mixer (or in a large mixing bowl with a hand mixer) cream brown sugar, canned pumpkin, eggs, milk, butter and vanilla extract until the butter is well incorporated. With your mixer on medium low speed, add the dry sifted ingredients to the wet mixture, slowly, mixing until just barely combined.
Fill each doughnut mold halfway with the pumpkin batter. Bake at 375 degrees F for 6 – 8 minutes, or until the exterior springs back when touched. Allow to cool completely and top each doughnut with cinnamon glaze.
Recipe by In Good Taste at https://ingoodtaste.kitchen/baked-pumpkin-doughnuts/