Preheat your oven to 350º F and prepare a 1/4 sheet rimmed baking pan with cooking spray.
In a large mixing bowl beat the butter and sugars until creamed. Add the egg, pumpkin puree and vanilla and beat until smooth.
In a medium sized mixing bowl whisk together the flour, baking powder, cinnamon and salt.
Stir the dry ingredients into the wet and combine until it just comes together.
In a medium sized bowl combine the filling ingredients: brown sugar, pumpkin puree, cinnamon, vanilla and milk.
Spread 2/3 of the cake batter over the 1/4 sheet baking pan and top with the filling mixture, spreading it to a 1/4" of the edge of the cake. Drop the remaining cake batter over the filling by tablespoon fulls.
Bake the cake for 23-25 minutes, until a tester comes out with just a few crumbs and golden brown on top.
While the cake cools mix together the powdered sugar, Torani Pumpkin Pie Sauce and milk to make the glaze. Drizzle the cake with the glaze, slice and serve.
Store any remaining cake in an airtight container at room temperature for up to 3 days or cover tightly and refrigerate for up to one week.