Suppose that $\{u(t\,, x)\}_{t >0, x \in\mathbb{R}^d}$ is the solution to a $d$-dimensional stochastic heat equation driven by a Gaussian noise that is white in time and has a spatially homogeneous covariance that satisfies Dalang's condition. The purpose of this paper is to establish quantitative central limit theorems for spatial averages of the form $N^{-d} \int_{[0,N]^d} g(u(t\,,x))\, \mathrm{d} x$, as $N\rightarrow\infty$, where $g$ is a Lipschitz-continuous function or belongs to a class of locally-Lipschitz functions, using a combination of the Malliavin calculus and Stein's method for normal approximations. Our results include a central limit theorem for the {\it Hopf-Cole} solution to KPZ equation. We also establish a functional central limit theorem for these spatial averages.