Preheat oven: Preheat your oven to 350°F (175°C), and lightly grease a donut pan or spray it with nonstick cooking spray.
Mix dry ingredients: In a medium bowl, whisk together the flour, baking powder, baking soda, cinnamon, nutmeg, ginger, cloves, and salt. Set aside.
Mix Wet Ingredients: In a large bowl, whisk together the pumpkin puree, brown sugar, granulated sugar, eggs, melted butter, milk, and vanilla extract until smooth and combined.
Combine Wet and Dry: Add the wet ingredients into the dry ingredients, mix until no flour pockets remain. Be careful not to overmix.
Fill Donut Pan: Spoon the batter into a piping bag or a large ziplock bag. Snip off the corner and pipe the batter into the donut cavities, filling each about ¾ full.
Bake: Bake for 10-12 minutes or until a toothpick inserted into the donuts comes out clean. Let the donuts cool in the pan for about 5 minutes, then transfer to a wire rack to cool completely.