Pre-heat oven to 350 degrees and brush a bundt pan with oil or spray with cooking spray.
Whisk together flour, sugar, baking powder, baking soda, salt and pumpkin pie spice in a medium bowl to remove any lumps.
In a smaller bowl mix together the milk, pumpkin puree and vanilla extract.
Pour into the flour and mix with hand mixer until well combined, about 2 to 3 minutes.
Transfer to baking pan and place in center of oven to bake for 30 to 35 minutes or until a toothpick inserted comes out clean. Allow cake to cool slightly before inverting cake onto serving dish.
While cake is baking mix together the glaze ingredients until smooth and creamy.
Drizzle glaze over cake, slice and serve.
Store leftover cake, if you have any, in an airtight container in the fridge. Heat slightly before serving.