Preheat oven to 350 degrees F. Spray a donut pan with nonstick spray and set aside.
In a small bowl, whisk together the flour, baking soda, baking powder, salt, and pumpkin pie spice. Set aside.
In a separate bowl, whisk together the pumpkin puree, oil, sugars, eggs and vanilla until combined.
Add the pumpkin mixture to the dry ingredients and mix with a wooden spoon, do NOT overmix. The donut dough should just be barley combined.
Scoop the mixture into a plastic bag, cut the tip and pipe the batter into the greased donut pan, filing 3/4 full. The donuts will get fluffy and rise after they bake.
Bake the donuts for 12-15 minutes or until golden brown, you can insert a toothpick in the center it should come out clean. Repeat with remaining donut batter.
To make the Cinnamon Vanilla Glaze
Combined all of the ingredients in a bowl and whisk together until there are no lumps in the glaze. The glaze should be smooth and glossy.
Once the donuts are baked and cooled, dip to tops of the donuts in the glaze one donut at a time, coating well. Place the glazed donuts on a cooling rack and top with chopped nuts if desired or leave as is. Allow the glaze to set and enjoy!
Notes
*To store the donuts, tightly cover the donuts in plastic wraps or store in an airtight container for up to a week in a cool dry place.