Prep: Preheat oven to 375°F (190°C). Line a 12-cup muffin tin with liners.
Dry ingredients: In a bowl, whisk flour, baking soda, baking powder, salt, cinnamon, nutmeg, cloves, and ginger.
Wet ingredients: In another bowl, mix pumpkin puree, granulated sugar, brown sugar, oil, eggs, and vanilla until smooth.
Combine: Fold dry ingredients into wet ingredients until just combined (do not overmix).
Streusel: Use a fork or fingers to mix flour, brown sugar, butter, and cinnamon until crumbly.
Assemble: Divide batter evenly among muffin cups (fill ¾ full). Sprinkle streusel generously on top.
Bake: 20–25 minutes, until a toothpick inserted comes out clean. Cool in the pan 5 minutes, then transfer to a wire rack.
Glaze: Whisk powdered sugar, milk, and vanilla until smooth. Drizzle over cooled muffins.