Preheat your oven to 350°F (175°C). This ensures the donuts bake evenly and rise properly.

In a large mixing bowl, whisk together the flour, granulated sugar, brown sugar, baking powder, baking soda, cinnamon, nutmeg, ginger, and salt. This combines the dry ingredients and ensures even distribution of the leavening agents and spices.

In another bowl, whisk together the pumpkin puree, eggs, milk, and vegetable oil until smooth. This mixture adds moisture and flavor to the donuts.

Pour the wet ingredients into the dry ingredients and gently fold them together using a spatula until just combined. Be careful not to overmix, as this can make the donuts tough.

Grease your donut pan with non-stick spray or oil. This prevents the donuts from sticking to the pan.

Using a piping bag or a zip-top bag with the corner snipped off, fill each donut cavity about ⅔ full with the batter. This allows room for the donuts to rise without overflowing.

Bake in the preheated oven for 10-12 minutes, or until a toothpick inserted into the center comes out clean. This ensures the donuts are cooked through.

Remove the pan from the oven and let the donuts cool in the pan for 5 minutes before transferring them to a cooling rack to cool completely.

In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Adjust the milk as needed to achieve your desired glaze consistency.

Once the donuts are completely cool, dip the tops into the glaze and let the excess drip off. Place them back on the cooling rack.

Sprinkle a little ground cinnamon on top of the glaze for added flavor and decoration.