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Preheat oven to 375 degrees. Spray a donut pan with non-stick spray.
Add the milk, oil, egg, and pumpkin to a mixing bowl and beat until well combined.
Add the dry ingredients to the bowl and mix to combine.
Spoon or pipe mixture into the donut pan and bake for 8-10 minutes or until a tester comes out clean.
Let cool in the pan for 10 minutes.
Place a cooling rack on a baking sheet.
Whisk together all of the ingredients for the glaze.
Dip the tops of each donut into the glaze and place on the prepared cooling rack to cool for 10 minutes to let the glaze set.