Be sure to read instructions all the way through before beginning.
Preheat the oven to 350 degrees.
Prep your donut pans for baking. I just spray mine with a pan release, but if you prefer you can use softened butter. Just make sure they are covered. Set aside.
Combine flour, baking powder, baking soda, salt, cinnamon, pumpkin pie spice, and brown sugar in a small bowl. Mix well and set aside.
Add oil, egg, almond milk, yogurt, vanilla, and pumpkin to a medium bowl. Mix well.
Combine the wet and dry ingredients. Mix only to combine, being careful not to overmix.
I like to pipe my batter into the pans. If you don't have a piping bag, you can always add the batter to a ziplock bag and cut the corner to pipe. You can spoon it in as well, but it is really kind of a pain!
Place pans in the oven.
They bake quickly, so keep an eye on them. Mine generally take about 5 minutes, but plan for 5-8 minutes, depending on the actual temp of your oven and the thickness of the pans. I test by pressing on the top of the donut. You will want it to feel slightly, very slightly underbaked. The donuts will continue to bake even after you have removed them from the oven, this is called carry-over cooking. If you bake until it is fully baked, when the carry-over cooking happens, you run the risk of a dry baked good. So, be mindful of that.
Remove from the oven.
Allow them to sit for 2-5 minutes in the pan, then invert to remove. I turn them back over to cool completely.
While they are cooling, which won't take long, start your glaze.
Add all ingredients to a small bowl and stand mixer. Mix, adding milk as needed, until the glaze is really smooth and the consistency you are looking for.
Now, carefully dip the donuts about halfway up in the glaze. Once they are glazed, sprinkle with the chopped pecans. You can also add granola, chopped pepitas, chopped walnuts, or even chopped pistachios. There are a lot of great options!
They are best eaten the same day you bake them but can hold for up to 2 days. I prefer holding them in the fridge in an airtight container. Again, I prefer to eat them the day of if I can.