Preheat oven to 425.
Spray two 20-cavity donut pans with cooking spray.
Set aside.
In a large mixing bowl, stir flour, baking powder, baking soda, salt and granulated sugar.
Set aside.
In a medium sized mixing bowl, whisk the milk, sour cream and eggs until smooth.
Whisk in pumpkin, vanilla extract and pumpkin pie spice.
Pour the pumpkin mixture into the flour mixture.
Add miniature chocolate chips.
Stir just until combined.
Do not overmix.
Batter will be very thick.
Spoon batter into a large zip-lock bag.
Trim a corner off the bottom of the bag and pipe batter into each donut cavity.
Fill each cup 3∕4 full.
Bake for 10 minutes at 425 degrees or until the edges are lightly browned, and a toothpick inserted in center comes out clean.
Remove pan from oven and cool approximately 2 minutes on a cooling rack.
Remove donuts from the pan and place on cooling rack.
Dip tops of baked donuts in glaze.
Place donuts on cooling rack to cool and dry.
Allow glaze to drip off donuts.
Allow donuts to rest on cooling rack approximately 10 minutes until icing sets.
Serve.