Preheat and Prep: Heat the oven to 350°F (175°C).
Lightly grease two 6-cavity donut pans or one pan and bake in batches. You can also use a mini donut pan for smaller bites.
Mix Dry Ingredients: In a large bowl, whisk the flour, brown sugar, baking powder, baking soda, salt, and pumpkin pie spice until no sugar clumps remain.
Mix Wet Ingredients: In a separate bowl, whisk the pumpkin puree, eggs, oil, milk, and vanilla until smooth and well combined.
Combine: Pour the wet mixture into the dry ingredients. Stir with a spatula until just combined. Do not overmix; a few small lumps are fine.
Fill the Pans: Spoon the batter into a piping bag or a zip-top bag with the corner snipped.
Pipe batter into each donut cavity, filling about 3/4 full so they rise without losing the hole.
Bake: Bake for 10–12 minutes for standard donuts (8–9 minutes for mini), until the tops spring back when lightly pressed and a toothpick comes out mostly clean.
Cool Briefly: Let donuts cool in the pan for 5 minutes, then transfer to a wire rack. While warm, decide on your finish.
Cinnamon-Sugar Finish: Mix granulated sugar and cinnamon in a shallow bowl. Brush warm donuts with melted butter, then toss in the cinnamon-sugar until coated.
Maple Glaze Finish: Whisk powdered sugar, maple syrup, milk, vanilla, and salt until smooth and pourable.
Dip cooled donuts topside into the glaze, let excess drip off, and set on a rack to firm up.
Serve: Enjoy slightly warm for the best texture and flavor. They pair perfectly with coffee or hot cider.