Preheat oven to 350°F. Spray donut pan with non-stick cooking spray. Set aside.
Whisk the flour, baking powder, baking soda, salt, cinnamon, and pumpkin pie spice together in a large bowl. Set aside. In a medium bowl, whisk the oil, brown sugar, eggs, pumpkin puree, milk, and vanilla extract together. Using a spatula, pour the wet ingredients into the dry ingredients. Fold ingredients together until no flour remains.
Place batter in a plastic bag and cut one corner off to pipe batter into donut cavities. Fill ¾ of the way full.
Bake for 10-11 minutes or until donuts are lightly browned. If you poke your finger on top of the donut, the donut should bounce back. Cool donuts for a couple of minutes before flipping over onto wire rack to cool completely.
To make the glaze: Combine the confectioner's sugar, maple syrup, and heavy cream in a bowl. Whisk until smooth. Add more sugar if glaze is too thin and more heavy cream if glaze is too thick. Dip cooled donuts into the glaze until the entire half of the donut is covered, place back on the wire rack and sprinkle pecan bits over all or part of the donut. Repeat until all donuts are glazed. Enjoy immediately!
Notes
Storage: Store donuts in airtight container at room temperature for 1-2 days. You can also extend the life of the donuts by putting them in the refrigerator for 4-5 days.