Preheat oven to 325ºF. Spray donut pans with cooking spray and set aside.
In a medium sized bowl, combine flour, baking powder, pumpkin pie spice, salt and baking soda. Set aside.
In an electric mixing bowl such as a kitchen-aid, combine Truvia and softened butter. Blend until incorporated.
Add in pumpkin pie filling, milk and eggs. Mix until just combined.
Add the previously combined dry ingredients into the pumpkin mixture and blend until just combined.
Scoop into greased donut pan(s). Bake in preheated oven for 8-10 minutes, or until donuts spring back when touched and golden brown. Pull out to let cool.
After a few minutes, flip donut pan over and remove donuts carefully. Let cool on a wire rack.
For glaze: melt butter in a medium sized bowl in the microwave and add then powdered sugar, water and vanilla. Whisk until no lumps.
Dip each cooled donut into glaze and set on wire rack. Serve and enjoy!