Preheat the oven to 350°F (175°C). Lightly grease a donut pan.
In a large bowl, whisk together the flour, sugars, baking powder, baking soda, salt, pumpkin pie spice, and cinnamon.
In a separate bowl, mix together the pumpkin puree, eggs, oil, milk, and vanilla extract.
Combine the wet ingredients with the dry ingredients and mix until just combined.
Spoon the batter into the donut pan, filling each cavity about 3/4 full.
Bake for 12–15 minutes, or until a toothpick inserted comes out clean.
Allow to cool in the pan for 5 minutes before transferring to a wire rack to cool completely.