If using a babycakes donut maker, turn it on to preheat. Otherwise, preheat the oven to 375 degrees. Grease a donut pan or regular cookie sheet.
In the bowl of your stand mixer, mix together the dry ingredients.
Beat in the pumpkin, eggs, milk, and butter until well combined.
Fit a pastry bag with a large tip and fill with the donut batter. Alternately, fill a large ziploc bag and snip off the end.
Pipe into the donut maker or donut pan.
If using the donut maker, cook for about 3-5 minutes, checking for doneness with a toothpick.
If using the oven, bake for about 10-12 minutes or until golden brown and cooked through.
Cool on a wire rack.
Melt the 1/2 cup of butter in a small dish and mix together cinnamon and sugar in a second dish for dipping.
Dip the donuts in the butter and then the cinnamon-sugar mixture.
Store in an air-tight container.