Start by preheating your oven to 350°F (175°C). Generously grease and flour your Bundt pan to make sure the cake releases cleanly. You can also use baking spray with flour for extra insurance.
In a medium bowl, whisk together the flour, pumpkin pie spice, baking powder, baking soda, and salt. This ensures even distribution of spices and leavening agents.
In a large bowl, whisk the granulated sugar, brown sugar, and oil until smooth. Add in the eggs, one at a time, followed by the pumpkin puree, milk, and vanilla extract. Mix until everything is fully combined.
Gradually add the dry ingredients to the wet mixture. Stir until just combined, being careful not to overmix. The batter will be thick and smooth.
Transfer the batter into the prepared Bundt pan and smooth the top. Bake for 50–55 minutes, or until a toothpick inserted comes out clean or with a few moist crumbs.
Let the cake cool in the pan for about 15 minutes, then carefully invert onto a cooling rack. Once completely cool, whisk together the glaze ingredients and drizzle over the top. Let the glaze set for 10–15 minutes before slicing.