Preheat and prep: Heat the oven to 350°F (175°C). Lightly grease a 12-cavity doughnut pan (or two 6-cavity pans). If you don’t have one, use a muffin pan and bake as “doughnut muffins.”

Mix dry ingredients: In a medium bowl, whisk flour, baking powder, baking soda, salt, and pumpkin pie spice until evenly combined.

Whisk wet ingredients: In a large bowl, whisk granulated sugar, brown sugar, and eggs until smooth. Add pumpkin, milk, oil, and vanilla. Whisk until well combined.

Combine: Add the dry mixture to the wet mixture. Stir with a spatula until just combined. Do not overmix; a few small lumps are fine.

Fill the pan: Spoon the batter into a piping bag or a zip-top bag and snip the corner. Pipe batter into each doughnut cavity, filling about 3/4 full. This helps keep the centers open and the shapes neat.

Bake: Bake for 10–12 minutes, or until the tops spring back when gently pressed and a toothpick comes out clean. For muffins, bake 16–18 minutes.

Cool briefly: Let the doughnuts rest in the pan for 5 minutes, then transfer to a wire rack. They should be warm but not hot when you coat them.

Finish with cinnamon sugar (Option 1): Stir sugar and cinnamon together in a shallow bowl. Brush each warm doughnut lightly with melted butter, then toss in the cinnamon sugar to coat all sides.

Or glaze (Option 2): Whisk powdered sugar, maple syrup, a pinch of salt, and just enough milk to make a thick, pourable glaze. Dip the tops of cooled doughnuts, let excess drip off, and set on a rack to firm up.

Serve: Enjoy warm the day they’re baked for the best texture and aroma.