Preheat your oven to 350 F and generously grease two donut pans with nonstick cooking spray to ensure easy release.
In a medium bowl, whisk together the flour, baking soda, baking powder, cinnamon, nutmeg, allspice, cloves, and salt until well combined. Set aside.
In a separate bowl, stir together the melted butter, egg, vanilla extract, brown sugar, granulated sugar, and milk until smooth and creamy.
Gradually add the wet ingredients to the dry ingredients, stirring until a thick batter forms.
Gently fold in the fresh orange juice and orange zest until evenly distributed throughout the batter.
Spoon or pipe the batter into the prepared donut pans, filling each cavity about three-quarters full.
Bake in the preheated oven for 10 to 12 minutes or until the tops of the donuts are lightly golden brown and spring back when lightly pressed with your finger.
Allow the donuts to cool in the pans for a few minutes before transferring them to a wire cooling rack to cool completely.
When the donuts are cool, prepare the glaze by whisking together the powdered sugar and two tablespoons of orange juice.
Add more juice, if needed, to thin the glaze.
Dip the top of each donut in the glaze and place it back on the wire rack.
Allow the glaze to set before serving.