Preheat oven to 350 degrees F. and spray donut pan with non-stick cooking spray.
Place flour, baking powder, salt, cinnamon, sugar, pumpkin, egg, vanilla and pudding mix into a large mixing bowl.
Place ice cream into a microwave safe bowl and heat for 30 seconds or until just barely melted. Pour into mixing bowl and combine with other ingredients until well combined. Scoop batter into prepared donut pan (in batches if necessary). Bake for 15-20 minutes, until baked through. Remove and let cool for 10 minutes before removing from pan.
To prepare the glaze, place powdered sugar and cream into a bowl, whisking to combine. Add more cream if needs thinning out. Dip tops of donuts in glaze and serve!