Preheat oven to 350°F / 180°C and generously grease your bundt pan.
Cream the butter and both sugars together.
Add the eggs one at a time, beating after each addition.
Add the pumpkin puree, milk and vanilla, beat until just combined.
Sift all the dry ingredients into a large bowl and mix together. Then add to the cake batter and mix in until combined.
Pour the batter into your prepared bundt pan and bake for 40-45 minutes, or until a skewer inserted in the middle comes out clean.
Let the cake sit in the pan for exactly 10 minutes, then flip it out onto a cooling rack - it should come out easily. Let it cool completely before adding the glaze.
Make sure the butter and cream cheese are both at room temperature, then beat them together until creamy and smooth.
Add the powdered sugar and vanilla and beat until there are no lumps.
For a more runny glaze, add 1-2 tablespoons of milk, or as much as it takes to get the desired thickness.
Spread, spoon, or pipe the glaze onto the cooled pumpkin bundt cake. Dust with a light sprinkling of cinnamon for decoration.
Notes
Make sure you use pumpkin puree and NOT pumpkin pie filling! The cans look very similar, but the contents are completely different. Look for 100% pure pumpkin puree. When greasing your bundt pan, be sure to get into every corner of the pan so there won't be anywhere for the cake to get stuck or break. I like to use bake spray, but you can use butter, cake goop, or even cooking spray (if it's a good one you trust!). The important thing is that it is well greased. If you prefer, you can just use 3 teaspoon of pumpkin pie spice, rather than the ground cinnamon and ginger. Note: I always advise measuring ingredients with a kitchen scale for the best results. It's very hard to get an accurate measurement with a measuring cup, and mis-measured ingredients is the most common thing I see go wrong for people making my recipes. All my recipes have the measurements listed in both cups and grams, so you can choose which method is best for you.