Preheat your oven to 375°F (190°C). Line a 12-cup muffin tin with paper liners or grease lightly.
Make the streusel: In a small bowl, mix flour, brown sugar, cinnamon, and salt. Stir in melted butter until clumps form. Chill for 10 minutes while you make the batter.
Whisk dry ingredients: In a large bowl, whisk flour, baking soda, baking powder, salt, cinnamon, nutmeg, ginger, and cloves.
Mix wet ingredients: In a separate bowl or large measuring cup, whisk pumpkin, eggs, granulated sugar, brown sugar, oil, milk, and vanilla until smooth.
Combine: Pour wet ingredients into dry.
Stir gently with a spatula until just combined. Do not overmix. Fold in any add-ins.
Fill the tin: Divide batter evenly among the cups, about 3/4 full. Sprinkle a generous layer of streusel over each muffin, pressing lightly so it adheres.
Bake for 18–22 minutes, or until a toothpick inserted in the center comes out clean or with a few moist crumbs.
Tops should be set and golden.
Cool: Let muffins rest in the pan for 5 minutes, then transfer to a wire rack to cool. Enjoy warm or at room temperature.