Preheat the oven to 350 degrees and grease two donut pans with nonstick cooking spray.
In a medium bowl, whisk together the flour, baking soda, baking powder, cinnamon, nutmeg, allspice, and cloves. Set aside.
In a separate bowl, stir together the melted butter, egg, vanilla extract, brown sugar, granulated sugar, and milk.
Add the butter mixture to the dry ingredients and stir until combined.
Add the orange juice and orange zest. Stir to mix.
Spoon or pipe the batter into the donut pans and bake for 10 to 12 minutes, until the tops of the donuts are lightly browned and they bounce back after being lightly pressed.
Allow the donuts to cool in the pan until they’re safe to touch, then transfer them to a wire cooling rack to cool completely
When the donuts are cool, prepare the glaze by whisking together the powdered sugar and two tablespoons of orange juice. Add more juice, if needed, to thin the glaze.
Dip the top of each donut in the glaze and return to the wire rack. Allow the glaze to set before serving. Enjoy.