Preheat the oven to 375°F (190°C). Line a 12-cup muffin pan with paper liners or lightly grease the cups.

Make the cinnamon crumbs by mixing the flour, brown sugar, cinnamon, and salt in a small bowl. Stir in the melted butter until large crumbs form; set aside.

In a medium bowl, whisk together the flour, baking soda, baking powder, salt, cinnamon, ginger, nutmeg, and cloves.

In a large bowl, whisk the eggs, granulated sugar, and brown sugar until combined. Whisk in the pumpkin puree, vegetable oil, milk, and vanilla extract until smooth.

Add the dry ingredients to the wet ingredients and stir just until no dry streaks remain. Do not overmix.

Divide the batter evenly among the prepared muffin cups, filling each about 3/4 full.

Sprinkle the cinnamon crumbs generously over the top of each muffin.

Bake for 18 to 22 minutes, or until a toothpick inserted into the center comes out clean or with a few moist crumbs.

Let the muffins cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.

To make the white icing, whisk together the powdered sugar, 2 tablespoons milk, and vanilla extract until smooth. Add more milk, a little at a time, until the icing is thick but drizzly.

Drizzle the icing over the cooled muffins before serving.