Preheat oven to 350 degrees.In a large bowl combine the milk, eggs, white and brown sugar, oil, pumpkin, pumpkin pie spice, salt, baking soda, and baking powder.Mix together until combined.Slowly add in the flour and mix until all ingredients are thoroughly mixed in.Using a cupcake scoop, scoop the cupcake batter into muffin pan lined with muffin tins. Fill about 3/4 of the way.Bake for 25-30 minutes or until a toothpick inserted comes out with minimal crumbs.Allow cupcakes to cool on a wire rack before frosting.Follow instructions above for frosting cupcakes with your Pillsbury™ Filled Pastry Bag. The same frosting you love made easier to pipe onto cupcakes, fun for kids and adults too! :)