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In a medium mixing bowl stir together flour, brown sugar, baking powder, pumpkin pie spice, salt and baking soda. Add pumpkin, eggs, milk and butter; beat on low speed until mixed.
spoon mixture into pastry bag with star tip. Pipe onto 2 greased baking sheets in 3 inch circles. Bake at 375 for 10 minutes or until golden brown. Cool on rack over waxed paper.
Icing- In a small mixing bowl, stir together powdered sugar and vanilla. Stir in enough milk to make a smooth icing. Dip warm donuts in icing and place on rack to cool.
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