Put all of the ingredients in the bowl of a mixer and beat on medium until evenly combined.
Line your muffin pan with cupcake papers.
Use an ice cream scoop to fill the cupcake papers. If you want you can fill all 12 cupcake wells using the entire batch of batter and make 12 large instead of making 18 medium muffins.
Bake at 375 degrees for 15 to 18 minutes.
To Make the Glaze
Whisk the pumpkin pie spice with the powdered sugar.
Add the vanilla extract and the milk. Whisk until smooth and lump free.