Begin by preheating your oven to 350°F (175C/155C Fan) and preparing your Bundt cake pan. Grease and flour this ensuring that you get into all the corners and edges.
In a large mixing bowl, cream together the butter and sugars until light and fluffy. Then add the eggs one at a time and the vanilla, beating well after each addition.
Next, add the pumpkin puree and yoghurt to the large mixing bowl and beat to combine.
In a medium bowl, stir together the flour, baking soda, baking powder, salt, cinnamon, ginger, nutmeg and cloves. Then sift this into the large mixing bowl with the rest of the batter. Beat this until just combined and use a spatula to stir through.
Pour the batter into the prepared baking tin and smooth evenly. This can be accomplished using a butter knife to swirl lightly through the cake batter.
Bake in the centre of the preheated oven for about 1 hour, checking for a skewer inserted into the thickest part of the cake to come out clean.
Remove from the oven and allow to cool in the tin for 5 minutes before turning out onto a wire rack to cool completely.
Optional Topping: If making the glaze, whisk together the icing sugar, vanilla and milk. Depending on your desired consistency, you may want to add more sugar or more milk. Pour this over the cake and sprinkle chopped pecans.