I know Since the release of msbuild 15 (vs 2017) that NuGet is now fully integrated into MSBuild.
I have a nuspec file with defining variables of package properties
As has been mentioned in the comments, you no longer need a Nuspec file as most aspects can be controlled via properties in the csproj file or additional metadata on items (e.g. if you need additional content).
If you do need a nuspec file for some reason, you need to provide the variables for substitution yourself. You can do this in a target inside the csproj file like this:
<Target Name="SetNuspecProperties" BeforeTargets="GenerateNuspec">
<PropertyGroup>
<NuspecProperties>$(NuspecProperties);id=$(AssemblyName)</NuspecProperties>
<NuspecProperties>$(NuspecProperties);config=$(Configuration)</NuspecProperties>
<NuspecProperties>$(NuspecProperties);version=$(PackageVersion)</NuspecProperties>
<NuspecProperties>$(NuspecProperties);description=$(Description)</NuspecProperties>
<NuspecProperties>$(NuspecProperties);authors=$(Authors)</NuspecProperties>
</PropertyGroup>
</Target>