Preheat the oven to 375°F. Line a 12-cup muffin tin with muffin liners and lightly coat with cooking spray. Set aside.

In a large mixing bowl, blend together the pumpkin puree, granulated sugar, brown sugar, vegetable oil, milk, eggs, and vanilla extract until fully combined.

In the same bowl, sift in the all-purpose flour, baking soda, baking powder, cinnamon, nutmeg, ginger, cloves, and salt. Stir the dry ingredients into the wet mixture until the batter is smooth and no streaks remain.

Using a cookie scoop or spoon, distribute the batter evenly into the prepared muffin cups, filling each just over two-thirds full.

Prepare the streusel by mixing the melted butter, light brown sugar, maple syrup, salt, chopped pecans, and flour in a separate bowl. Stir until the mixture forms a crumbly, wet sand-like consistency. Divide the streusel topping evenly over the muffin batter.

Bake the muffins for 15–17 minutes or until a knife or toothpick inserted into the center comes out mostly clean. Remove the muffins from the oven and allow them to cool slightly in the pan.

To make the optional glaze, whisk together the powdered sugar, milk, vanilla extract, and a pinch of salt in a small bowl until smooth. Drizzle over the cooled muffins before serving.