Preheat the oven to 350 degrees F.
In a large mixing bowl, combine pumpkin puree, milk, melted butter, vanilla extract, brown sugar, granulated sugar and eggs. Whisk until smooth.
Sprinkle in flour, baking powder, pumpkin pie spice and ground cinnamon. Fold the dry ingredients into the wet ingredients.
Spray your donut pan with nonstick spray or grease with butter.
Transfer the donut batter to a plastic bag or piping bag and cut off the end tip. Fill the donut pan cavities with batter (you may have to repeat this depending on the size of your donut pan).
Bake for 16 to 18 minutes or until they are puffed and spongey to the touch.
In the meantime, grab two separate bowls and combine the ingredients for the maple glaze in one and the ingredients for cinnamon sugar in the other (or just choose one).
Flip the pan of warm donuts onto a wire cooling rack and let the donuts some to room temperature.
If using the maple glaze, dip the tops of the donuts in the glaze and return them to the wire rack to set.
If tossing in cinnamon sugar, melt butter and brush the surface of each donut with the unsalted butter, then liberally coat them in cinnamon sugar. Make sure to not use too much butter or else the sugar will clump.
Enjoy with a warm cup of coffee or tea for the ultimate experience!