Preheat oven to 350°F (180°C) and grease a 10-cup bundt pan with butter or non-stick cooking spray.
In the bowl of a stand mixer fitted with the paddle attachment, combine sugars and oil. Beat for 2 minutes at medium speed.
Add eggs, one at a time and beat after each addition for 20 seconds. Add pumpkin puree and mix until combined.
In a small bowl or large measuring cup, combine flour, baking soda, pumpkin pie spice, and salt.
With the mixer running on low speed, add flour mixture and beat until just combined.
Transfer batter to the prepared bundt pan and smooth the top of the batter.
Bake for 55-60 minutes or until a skewer inserted into the center of the cake comes out mostly clean with only a few moist crumbs attached.
Remove from oven and place on a cooling rack. Let cool the cake in the pan for 15 minutes before inverting onto the wire rack. Cool cake completely before adding the glaze.
To make the glaze, combine powdered sugar, milk, and maple syrup.
Drizzle over cooled cake and decorate with toasted pecans.