Preheat the oven to 350 degrees. Line two muffin tins with cupcake liners.

In a medium bowl combine the flour, baking powder, pumpkin pie spice, cinnamon, and salt. Mix well to combine and set aside.

In a large bowl cream together the butter, sugar, and brown sugar. Add in the eggs and mix well to combine.

Beat in the pumpkin and vanilla.

Add half of the flour mixture to the pumpkin mixture and mix well. Add in the milk and stir until well combined. Add in the remaining flour mixture and mix until just blended.

Divide the mixture between the prepared muffin cups filling each one 2/3 of the way full.

Bake for 20-25 minutes or until a toothpick inserted into the center comes out clean.

Remove from pan and cool completely on a wire rack.

To decorate remove the Pillsbury Filled Pastry Bags from the box, open them up, and use the box instructions to pipe on the frosting.

Sprinkle with colored sprinkles if desired.