Preheat your oven to 180°C (350°F) and grease a donut pan.
In a mixing bowl, whisk together the flour, baking powder, baking soda, ground cinnamon, ground nutmeg, ground cloves, and salt.
In another bowl, beat together the granulated sugar and egg until well combined.
Add the pumpkin puree, milk, vegetable oil, and vanilla extract to the sugar and egg mixture. Mix until smooth.
Gradually add the dry ingredients to the wet ingredients and stir until just combined. Do not overmix.
Spoon the batter into the prepared donut pan, filling each cavity about 2/3 full.
Bake in the preheated oven for 12-15 minutes or until a toothpick inserted into a donut comes out clean.
Remove the donuts from the oven and let them cool in the pan for a few minutes. Then, transfer them to a wire rack to cool completely.
To make the glaze, whisk together the icing sugar, milk, and vanilla extract until smooth. If the glaze is too thick, add a little more milk.
Dip each cooled donut into the glaze, allowing any excess to drip off, and place them back on the wire rack to set.
Let the glaze set for about 15 minutes, and your delicious Pumpkin Donuts are ready to enjoy!
