Preheat the oven to 350 degrees F. Grease the cavities of a doughnut pan with cooking spray and set aside.
In the bowl of a stand-up mixer (or a medium bowl using an electric mixer), add the butter and light brown sugar; beat until light and fluffy, about 2 to 3 minutes. Add the eggs and beat once more. Add the pumpkin puree, baking powder, cinnamon, ginger, baking soda and cloves; beat once more until thoroughly incorporated. In two batches, alternating between the flour and milk, add the two until just combined. Scrape down the sides as needed and mix one last time.
Transfer the batter to a resealable kitchen bag and press any air out. Snip off the corner and pipe the batter into the doughnut pan. (If you’re feeling super lazy, you can simply spoon the batter into the holes of the doughnut pan.) Transfer to the oven to bake for 7 to 10 minutes, until the doughnuts have risen and spring back when touched. Invert onto a cooling rack to cool. Repeat with the remaining batter.
To make the glaze: Add the chocolate to a heatproof bowl. In a small saucepan, heat the heavy cream to very hot. Pour the heavy cream over the chocolate and allow to stand for 2 to 3 minutes. Mix vigorously until very smooth. Mix in the vanilla extract.
To assemble the doughnuts: Dip the doughnuts into the ganache and then garnish with sprinkles and toppings of your choice. Repeat with the remaining doughnuts. These doughnuts are good when kept in an airtight container for up to 2 days, they’re definitely best eaten the same day.