Preheat your oven to 350°F (175°C).
Grease a doughnut pan with cooking spray or butter.
In a large bowl, whisk together the flour, granulated sugar, brown sugar, baking powder, baking soda, salt, cinnamon, nutmeg, and cloves.
In a separate bowl, mix together the pumpkin puree, buttermilk, vegetable oil, vanilla extract, and eggs until well combined.
Pour the wet ingredients into the bowl with the dry ingredients and stir just until combined. Do not overmix.
Transfer the batter into a piping or resealable plastic bag with the corner snipped off. Pipe the batter into the prepared doughnut pan, filling each cavity about 3/4 full.
Bake for 12-15 minutes or until a toothpick inserted into a doughnut comes out clean. Let the doughnuts cool in the pan for a few minutes, then transfer them to a wire rack to cool completely.
While the doughnuts are cooling, prepare the glaze by whisking the powdered sugar, milk, and vanilla extract until smooth.
Once the doughnuts have cooled, dip them into the glaze or drizzle it over the top. Allow the glaze to set for a few minutes before serving.