Preheat the oven to 350°F (175°C). Spray two 9 × 5-inch loaf pans with nonstick cooking spray.
In a large mixing bowl, combine the flour, pumpkin pie spice, baking soda, and salt. Set aside.
In another large bowl, combine the granulated sugar, pumpkin puree, eggs, canola oil, vanilla extract, and orange juice. Beat by hand until blended.
Add the pumpkin mixture to the dry ingredients and stir just until moistened.
Gently fold in the cranberries.
Divide the batter evenly between the prepared loaf pans.
Bake for 60–65 minutes, or until a wooden toothpick inserted into the center comes out clean.
Cool the loaves in their pans on wire racks for 10 minutes. Remove them from the pans and place them on the racks to cool further.
To prepare the glaze, combine the powdered sugar, vanilla extract, and orange extract in a mixing bowl.
Add the heavy cream or milk one tablespoon at a time, mixing until the glaze reaches the desired consistency.
While the loaves are still warm, spoon the orange glaze over each loaf.
Allow the bread to cool completely before slicing.