Preheat your oven to 350°F and lightly grease your donut pan (or muffin tin).
In a small bowl, whisk together flour, baking powder, cinnamon, ginger, nutmeg, cloves, and salt.
In a medium bowl, combine pumpkin puree, brown sugar, egg, milk, and melted butter. Whisk together until smooth. Add flour mixture and stir until just combined.
Place a large disposable plastic bag over a cup and transfer batter to the bag. Snip off one of the corners and "pipe" the batter into your prepared donut pan, filling about 3/4 of the way full. This will make exactly 6 donuts.
Bake for 9 to 11 minutes, until the donut tops spring back when lightly pressed with your finger. When pan is cool enough to handle, turn donuts out on a cooling rack.