Preheat your oven to 350°F and lightly grease a donut pan. I like the silicone version like this one.
In a large mixing bowl, whisk together the flour, baking powder, baking soda, cinnamon, ginger, nutmeg, cloves, and salt.
In a separate bowl, whisk together the brown sugar, granulated sugar, egg, melted butter, warm milk, molasses, and vanilla extract until smooth.
Gradually fold the wet ingredients into the dry ingredients, mixing until just combined. Do not overmix.
Spoon or pipe the batter into the donut pan, filling each cavity about ¾ full.
Bake for 10-12 minutes, or until the donuts spring back when lightly touched.
Let the donuts cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.