Preheat the oven to 325 °F. Spray the mini muffin pans with nonstick spray.
This recipe makes about 36 donut holes, so you may need more muffin tins or you can reuse the same pan for multiple batches.
In a mixing large bowl, whisk together the dry ingredients: flour, brown sugar, baking powder, pumpkin pie spice, salt, and baking soda until well mixed.
In a medium bowl, combine wet ingredients together: pumpkin puree, eggs, milk, and butter.
Now we pour the wet ingredients into the dry and stir to combine flour mixture until just incorporated.
Using a 1 inch cookie scoop, place a ball of batter into each spot of the mini muffin cups.
6. Bake the donuts for 10-12 minutes. They will have a soft and spongy feeling when done and should drop right out of the pan. Another sign that the donut holes are fully baked is if you gently push on the top and it indents but slowly springs back.
Once the donut holes have cooled enough to handle by hand, brush them with melted butter and roll in the cinnamon sugar mixture.
No doubt the best part is popping one of your delicious baked pumpkin donut holes right into your hungry mouth!