Whisk dry ingredients (flour, baking powder, cinnamon, nutmeg, ginger, cloves) in a large bowl. In a separate medium bowl, whisk wet ingredients (pumpkin puree, milk, egg, brown sugar, vanilla extract, melted butter). Gently combine the wet and dry mixtures with a spatula until just combined, being careful not to overmix.

Preheat your oven to 350°F (175°C) and lightly grease a donut pan. Spoon or pipe the batter into the donut pan cavities, filling each about two-thirds full, then bake for 10-12 minutes until a toothpick comes out clean. Let the donuts cool in the pan for 5 minutes before transferring them to a wire rack to cool completely.

While donuts cool, whisk powdered sugar, milk, and vanilla extract in a bowl for the glaze, and warm the caramel sauce slightly if needed. Dip the top of each cooled donut into the powdered sugar glaze, let excess drip off, then place back on the wire rack and drizzle generously with warm caramel sauce, optionally sprinkling with flaky sea salt.