Make cake: Preheat oven to 375°F. Butter and flour a 10-inch tube pan. Stir together dry ingredients. With an electric mixer on high speed, beat butter and both sugars until fluffy. Add eggs one at a time, beating well after each.
Reduce mixer speed and add dry ingredients to butter mixture in 3 batches, alternating with soup.
Scrape batter into pan. Bake until a tester inserted in center of cake comes out clean, 35 to 40 minutes. Let cool in pan on a wire rack for 10 minutes, then invert onto rack and cool completely, about 2 hours.
Make glaze: Stir together confectioners' sugar, milk and cinnamon until smooth. Spoon glaze over cake.