Prep the pan and oven: Heat oven to 375°F (190°C). Line a 12-cup muffin pan with liners or grease well.
Whisk dry ingredients: In a large bowl, whisk flour, both sugars, baking soda, baking powder, salt, cinnamon, ginger, nutmeg, and cloves until evenly combined.
Mix wet ingredients: In a separate bowl or large measuring cup, whisk eggs, pumpkin puree, oil, milk, and vanilla until smooth.
Combine gently: Pour wet ingredients into dry.
Stir with a spatula just until you no longer see dry streaks. Do not overmix. Fold in any add-ins.
Fill the cups: Divide batter evenly among the muffin cups, filling each about 3/4 full. Sprinkle with coarse sugar if using.
Bake with a head start: Bake at 375°F (190°C) for 6 minutes, then reduce heat to 350°F (175°C) without opening the door. Bake another 10–12 minutes, until a toothpick comes out clean or with a few moist crumbs.
Cool: Let muffins cool in the pan 5 minutes, then move to a rack.
They’ll continue to set as they cool and stay very soft.