Preheat oven to 350°F.
In a large bowl, whisk together flour, baking powder, baking soda, salt, cinnamon, nutmeg, ginger, and cloves.
In a separate bowl, whisk together brown sugar, granulated sugar, vegetable oil, eggs, pumpkin purée, and vanilla extract until well blended.
Add the wet ingredients to the dry ingredients and mix until just combined, ensuring not to overmix.
Spray donut pans with nonstick spray. Spoon or pipe the batter into the donut wells, filling each about 3/4 full.
Bake in the preheated oven for 13-16 minutes, or until a toothpick inserted into the center comes out clean.
Allow donuts to cool slightly in the pan before transferring to a wire rack to cool completely.
Decorate donuts with icing or cinnamon sugar if desired.