Preheat your oven to 350°F. Grease a donut pan with non-stick cooking spray.
In a medium bowl, whisk together the flour, baking powder, cinnamon, nutmeg, cloves, and salt. Set aside.
In another large bowl, whisk together the vegetable oil, granulated sugar, egg, and vanilla extract until well combined.
Add the canned pumpkin puree to the wet ingredients and mix until smooth.
Gradually add the dry ingredients to the wet ingredients and stir until just combined. Be careful not to overmix; you want a smooth batter.
Spoon the batter into a piping bag or a large resealable plastic bag. If using a plastic bag, snip off one corner to create a makeshift piping bag.
Pipe the batter into the greased donut pan, filling each cavity about 2/3 full.
Bake in the preheated oven for 12-15 minutes, or until a toothpick inserted into a donut comes out clean.
Remove the donuts from the oven and let them cool in the pan for a few minutes before transferring them to a wire rack to cool completely.