Preheat oven to 350°F and line a mini muffin tin with liners or spray with nonstick spray.
In a large bowl, combine flour, baking powder, salt, and spices. Set aside.
In another bowl, mix the melted butter and brown sugar together with a spatula.
Add in the egg.
Add in vanilla, pumpkin puree, and milk.
Add the dry ingredients to the wet and stir until just combined.
Fill the muffin tins until about ⅔ the way full.
Bake for 12-15 minutes or until a toothpick comes out clean.
Let them cool for a few minutes.
Combine the cinnamon and sugar in a small bowl.
Dip the donut holes in butter and then in the cinnamon-sugar.
Voilà!
Notes
** Make sure that you don't but pumpkin pie filling. The difference is that pumpkin pie filling already has spices and eggs in it. To make sure you got the right thing, look at the ingredients on the can and it should just say pumpkin.
Recipe by Birch Tree Baking at https://www.birchtreebaking.com/pumpkin-cinnamon-sugar-baked-donut-holes/