Heat oven to 350. Grease and flour bundt pan.
Beat bisquick, sugar, brown sugar,butter, pumpkin pie spice, 1/4 c. milk, eggs and pumpkin in large bowl on low speed for 30 seconds. Beat on medium speed 3 minutes. Spread in pan.
Bake about 50 minutes or until it tests done. Cool 10 minutes; turn upside down onto plate. Remove pan; cool cake completely.
Stir remaining ingredients until smooth and thin enough to drizzle. Drizzle over cake.
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