Preheat oven to 350° F and grease donut pan with nonstick cooking spray.
In a large bowl, add flour, baking powder, salt, cinnamon, nutmeg, ginger, sugar, and brown sugar and whisk to combine.
Add oil, eggs, pumpkin puree, and vanilla and mix until incorporated and batter is smooth.
Pour batter into large gallon bag and snip corner off. Pipe batter into prepared donut pan, filling 3/4 full.
Bake at 350° F for 14-16 minutes or until toothpick inserted in center comes out clean. Let cool in pan before moving to cooling rack to cool completely.
Glaze:
In a 2-cup measuring cup, or small bowl, combine cream cheese, powdered sugar, vanilla, and milk until fully incorporated and has a glaze-like texture. If it is too thick, add a little more milk 1 tsp at a time.
Add glaze to piping bag or sandwich bag with corner cut off and pipe onto cool donuts.