01 -
Preheat oven to 350°F. Lightly grease an 8-inch square baking pan.
02 -
Whisk together flour, baking powder, baking soda, salt, and pumpkin pie spice in a medium bowl.
03 -
Using a mixer, beat softened butter and brown sugar until light and fluffy, about 2 to 3 minutes.
04 -
Add eggs one at a time, beating well after each. Mix in pumpkin purée, Greek yogurt, and vanilla extract until smooth.
05 -
Gradually fold dry ingredients into wet mixture, mixing gently until just combined to prevent toughness.
06 -
Pour batter into prepared pan, smoothing the top evenly. Bake 28 to 32 minutes until a toothpick inserted near center comes out clean or with a few moist crumbs. Avoid overbaking.
07 -
Allow cake to cool in pan for 10 minutes, then transfer to a wire rack to cool completely.
08 -
Whisk powdered sugar, whole milk, and vanilla extract in a small bowl until smooth and pourable. Adjust consistency with additional milk if necessary.
09 -
Drizzle glaze evenly over cooled cake. Let set about 10 minutes before slicing. Serve slightly warm or at room temperature.