In a large mixing bowl, or in the bowl of a stand mixer fitted with the paddle attachment, combine the pumpkin purée, apple cider vinegar, sugar, brown sugar, oil, and vanilla extract. If you are baking the donuts or using a donut dropper, add the plant-based milk to this mixture and stir until smooth.
In a separate bowl, sift together the flour, baking powder, baking soda, salt, cinnamon, cloves, nutmeg, cardamom, and allspice. Gradually add the dry ingredients to the wet mixture, folding gently until a smooth batter forms. For the roll-and-cut method, mix only until a tacky dough forms.