Preheat the oven to 350 degrees F.
Grease a baked donut pan with some olive oil or non-stick spray.
Using a stand mixer, beat the butter and brown sugar together until creamed.
Add the eggs one at a time scraping down and combining well.
In a bowl whisk the flour, baking powder, cinnamon and cloves together.
Gradually add the flour to the mixer, starting on low speed and then medium.
Once all of the flour has been added, scrape down the sides and add the vanilla.
Add the milk slowly until the batter is smooth.
Spoon some of the batter into each donut spot to just below the surface height of the pan.
Bake in the oven for 12-15 minutes.
Let cool on a wire rack and make the frosting.
Combine the powdered sugar, milk, syrup and vanilla in a bowl.
Using a wooden spoon or strong spatula, mix the sugar together until it gets stiff.
Place in the microwave and heat for about 10 seconds.
Mix again with your spoon until it has no lumps and is slightly pourable.
If the frosting is still too stiff, heat in the microwave for a few seconds at a time until it's runny enough to dip the donuts into.
Dip each donut into the frosting and immediately sprinkle with some chopped pecans.