Set oven to 350 F. Prepare a bundt pan (either by greasing and flouring, or by spraying with baking spray that contains flour)
Sift the cake mix into your mixing bowl. Add instant vanilla pudding mix, eggs, sugar, flour, pumpkin, milk, vegetable oil, cinnamon, ginger, nutmeg, and vanilla extract.
Mix on low speed for about 10-15 seconds to incorporate before increasing to medium speed for two minutes. Stop and scrape down the sides of the bowl as needed.
Scoop the batter into the prepared bundt pan. (Ours was a 10 cup bundt pan but any size is fine as long as the batter doesn't fill the pan past about ¾ full)
Bake the cake for about 40-45 minuntes (times will vary based on the size of your pan, etc. and so peek in as the end time approaches and adjust time as needed.) When an inserted toothpick comes out clean or with just a few moist crumbs attached, it is ready.
Move the freshly baked cake to cool on a cooling rack (in the pan) for about 10 minutes before turning out. Allow the cake to cool to room temperature or slightly warm before applying the glaze.