Preheat the oven to 350 degrees. Coat a donut pan with cooking spray.
Combine the flour, baking powder, salt, baking soda, cinnamon, nutmeg, ginger, and cloves together until well combined.
In another large bowl, cream together with a mixer, the brown sugar, butter, and pumpkin. Add in the milk, eggs, and vanilla then mix well. Slowly stir in the dry ingredients until just combined.
Place the mixture into a large zip lock bag. Cut off the corner and pipe evenly into the donut pan.
Place into the oven and bake for 13-15 minutes or until a tester inserted in the center comes out clean. Remove pan from the oven, let rest for 5 minutes before placing on a wire rack to cool completely.
Meanwhile make the glaze. Combine the powdered sugar, maple extract, cinnamon, maple syrup (optional), and milk together until well combined.
Place some wax paper under the wire rack. Dip the top of the cooled donuts in the glaze then return to the wire rack to allow the glaze to set. Enjoy.