Preheat the oven to 350°F (175°C). Grease and flour a bundt pan.

In a large mixing bowl, combine the flour, baking soda, baking powder, cinnamon, nutmeg, ginger, and salt.

In another bowl, whisk together the pumpkin puree, granulated sugar, brown sugar, oil, eggs, and vanilla extract until smooth.

Gradually add the dry ingredients to the wet ingredients, mixing until just combined. Fold in the chopped pecans if using.

Pour the batter into the prepared bundt pan and smooth the top.

Bake for 60 minutes or until a toothpick inserted into the center comes out clean.

Let the cake cool in the pan for 10 minutes, then invert onto a wire rack to cool completely.

In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth.

Drizzle the glaze over the cooled bundt cake before serving.