Preheat the oven to 375°F (190°C).

In a mixing bowl, combine the Bisquick mix, baking powder, and pumpkin pie spice.

In another bowl, mix the pumpkin puree, sugar, egg, milk, and vanilla extract until smooth.

Gradually add the dry ingredients to the wet ingredients, stirring until just combined.

Using a cookie scoop or spoon, drop small balls of dough onto a baking sheet lined with parchment paper.

Bake in the preheated oven for 10-12 minutes or until golden brown.

While the donut holes are baking, mix the sugar and cinnamon in a bowl.

Once baked, remove the donut holes from the oven and let them cool slightly.

Roll the warm donut holes in the cinnamon sugar mixture to coat.

Transfer to a wire rack to cool completely.