Preheat your oven to 350°F (175°C) and grease the donut pan with cooking spray or butter.
In a large bowl, whisk together the pumpkin puree, granulated sugar, vegetable oil, eggs, and vanilla extract until smooth.
In another bowl, combine the all-purpose flour, baking powder, baking soda, salt, cinnamon, nutmeg, ginger, and cloves. Stir until evenly mixed.
Gradually add the dry ingredients to the wet ingredients, mixing until just combined. Do not overmix.
Spoon the batter into the prepared donut pan, filling each cavity about ⅔ full. You can also use a piping bag for a neater approach.
Bake in the preheated oven for 15-20 minutes, or until a toothpick inserted into the center comes out clean.
Allow the donuts to cool in the pan for 5 minutes before transferring them to a cooling rack to cool completely.
To make the glaze, whisk together powdered sugar, milk, and vanilla extract in a bowl until smooth and desired consistency is reached.
Once the donuts have cooled, dip the tops in the glaze or drizzle it over the donuts. Let the glaze set before serving.