Grease the bottom only of two 8"x4" loaf pans or one 9"x5" loaf pan and set aside. Preheat oven to 350 degrees F.
In a mixing bowl, combine pumpkin, sugar, oil, vanilla, and eggs until well mixed. Mix in remaining bread ingredients until combined. Pour batter into prepared pan(s).
Bake small loaf pans for 50 to 60 minutes or large pan for 1 hour 10 min to 1 hour 20 minutes. Check for doneness with a toothpick near the center of the bread. Cool 10 minutes in pans on wire racks. Remove from pans to let cool completely.
Mix together glaze, adding just enough milk to get a drizzling consistency. Drizzle over loaves.
Store tightly wrapped at room temperature for up to 4 days, or refrigerate for up to 10 days.