Preheat your oven to 350°F and grease a 9×13-inch baking dish with gluten-free cooking spray.
Cut the gluten-free bread into small cubes and spread evenly on a baking sheet. Toast in the oven for 5–10 minutes until lightly golden. Keep an eye on them to prevent over-browning.
In a small bowl, mix brown sugar, pumpkin pie spice, and cinnamon. Sprinkle this mixture evenly across the bottom of your prepared baking dish.
Layer the toasted bread cubes over the sugar mixture.
In a large bowl, whisk eggs, milk, granulated sugar, vanilla extract, pumpkin, and pumpkin pie spice until fully combined.
Pour the custard mixture evenly over the bread cubes, ensuring all pieces are soaked.
Prepare the streusel by combining gluten-free flour, brown sugar, salt, pumpkin pie spice, chopped pecans, and melted butter in a separate bowl. Mix until crumbly.
Spread the pecan streusel evenly over the casserole.
Bake for 1 hour, checking for doneness with a toothpick—it should come out clean. The casserole should be firm and pulling away slightly from the pan edges.
Mix powdered sugar, vanilla extract, milk, and maple syrup in a small bowl until smooth to create the glaze.
Once the casserole has cooled for a few minutes, drizzle the glaze on top, slice, and serve warm. Enjoy!