1. Preheat the oven to 350 degrees Fahrenheit. Grease two doughnut pans.
2. Stir flour, sugar, pumpkin pie spice, baking powder, and salt in a mixing bowl. Add pumpkin purée, eggs, oil, and coffee whitener and whisk until smooth. Transfer the batter to a piping bag or Ziploc bag. Snip the corner to form a small hole and pipe the batter into the pans, until just about filled. Bake for 10-12 minutes (or three minutes in a preheated doughnut machine). Transfer to a cooling rack.
3. Mix icing ingredients together until smooth. Add a little more milk, if needed, to thin. Drizzle over doughnuts or dunk half into icing.