Preheat your oven to 350°F (175°C). Prepare your donut pan by greasing it with non-stick spray.
In a large bowl, whisk together flour, sugar, baking powder, cinnamon, and optional spices.
In another bowl, mix together pumpkin puree, eggs, and milk until well combined.
Pour the wet ingredients into the dry ingredients and mix just until combined; be careful not to overmix.
Using a piping bag or a spoon, fill each donut mold about ¾ of the way full with the batter.
Bake for 12-15 minutes, or until a toothpick inserted into the center comes out clean.
Allow the donuts to cool in the pan for a few minutes before transferring them to a wire rack.
Optional: Glaze the donuts with icing or sprinkle with cinnamon sugar while still warm.