Preheat oven to 350 degrees. Begin by combining flour, baking soda, baking powder, pumpkin pie spice, and salt in bowl. Whisk to combine. Add cold butter, cut into chunks, and use your hands to create a crumbly flour mix.
In a smaller bowl, combine yogurt, honey, pumpkin puree, and vanilla. Stir to combine.
Add yogurt mixture to flour mix and stir to combine. Then use hands to fold over dough until all the flour is incorporated.
For larger scones, place dough on baking sheet and spread into a large circle using your hands. For smaller scones, divide dough in half and make two smaller circles. Use a butter knife or dough scraper to cut scones circles into 8 pieces.
Bake scones for 15-20 minutes or until golden brown on top. While the pumpkin scones are baking, prepare the cinnamon glaze. Combine powdered sugar, 1/2 tbsp pumpkin puree, cinnamon, and milk in a bowl. Stir with a whisk until a smooth consistency forms. Set aside.
Place scones on cooling rack with a sheet of wax paper beneath. Once the pumpkin scones have cooled slightly, use a spoon to drizzle on the cinnamon glaze. Serve immediately and enjoy!