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Preheat oven to 400°F. Spray a 6 or 12 count donut pan with non-stick cooking spray, set aside.
In medium bowl whisk together flour, sugar, baking powder, salt and pumpkin pie spice until combined. Set aside.
In a large bowl, whisk together eggs, pumpkin, vanilla extract, milk and butter and mix together until smooth. Add in dry ingredients, whisking until well combined.
Then place in a large piping bag and cut the tip off. Pipe donut batter into each well of your donut pan and place in oven to bake for 8-10 minutes until donuts spring back when touched.
Let cool slightly before turning out onto wire rack to cool completely.
Meanwhile, make glaze
Place a wire cooling rack over a baking sheet. Dunk each donut in glaze and set on wire rack to harden.