Preheat oven to 350 degrees. Lightly coat bundt pan with cooking spray.
Sift or whisk together flour, pumpkin pie spice, salt, baking soda and baking powder. Set aside.
In the bowl of a stand mixer fitted with a paddle attachment or a large mixing bowl with an electronic hand mixer, beat together sugar, vanilla Greek yogurt and eggs. Add pumpkin and vanilla, blend until just mixed.
Slowly add flour mixture to wet mix. Do not over mix, this can result in your bread being tough.
Pour into greased bundt pan. Bake for 1 hour to 1 hour 15 minutes, or until it passes the toothpick test. If the top starts brown, loosely cover with a sheet of aluminum foil.
Remove and allow to cool for 10 minutes. Place serving dish over the top and flip. Knock the top (bottom of the bundt pan) with a knife to loosen the cake inside.
After cake has fully cooled, whisk powdered sugar with milk and cinnamon until smooth. You might need a little more powdered sugar or milk to make the mixture “drizzle-able”. Drizzle over Pumpkin Pound Cake. Top with pepitas while glaze is still tacky.
Slice and serve with a heaping scoop of vanilla ice cream and a cup of coffee.