Generously spray a doughnut pan with cooking spray.

Spoon the Pumpkin Spice cupcake batter into a piping bag and snip off the end to create a large, round tip. Pipe the batter into the doughnut pan.

Bake the doughnuts for 15-20 minutes at 350F, until a skewer inserted into the doughnuts comes out clean.

Cool for 10 minutes in the pan, then flip onto a wire rack and cool completely.

Whisk together the whipping cream, vanilla extract and milk in a bowl. The glaze should be thick enough to coat the doughnuts and be opaque, but thin enough that any swirls or ripples in the glaze smooth out when you give the doughnut a little jiggle.

Dunk the doughnuts into the glaze and return them to the wire rack. Sprinkle with the Pumpkin Spice Sprinkles before the glaze dries and enjoy!