Preheat your oven to 375°F. Line a muffin tin with paper liners and lightly spray with cooking spray. Set aside.
In a large bowl, mix together pumpkin purée, granulated sugar, brown sugar, vegetable oil, milk, eggs, and vanilla extract until well combined.
Add in the flour, baking powder, baking soda, cinnamon, nutmeg, ginger, cloves, and salt. Stir until all the ingredients are well incorporated.
Scoop the batter into the prepared muffin tins, filling each cup just over 2/3 full.
For the streusel, combine melted butter, all-purpose flour, light brown sugar, salt, finely chopped pecans, and maple syrup. Stir until the mixture resembles wet sand. Sprinkle the streusel evenly over the muffin batter.
Bake for 15-17 minutes, or until a knife inserted into the center comes out mostly clean. Allow the muffins to cool slightly before serving.
