Preheat oven to 425°F. Grease or line a muffin tray with paper liners.
In a large mixing bowl, whisk together dry ingredients: flour, white and brown sugar, cinnamon, nutmeg, cloves, ginger, salt, baking soda, and baking powder.
Create a well in the center of the dry mixture and add the wet ingredients: pumpkin purée, vanilla extract, milk, and vegetable oil (or melted vegan butter). Mix until just combined.
Scoop batter into lined or greased muffin tin. Cups should be about 3/4 full.
In a separate bowl, mix all ingredients for the streusel topping (all-purpose flour, brown sugar, cinnamon, and melted and cooled vegan butter). Mix the ingredients until they resembled coarse crumbs.
Top each muffin with a heaping tablespoon of streusel topping. Gently press the mixture into the batter to help it adhere.
Bake in preheated oven for 5 minutes, then reduce the oven heat to 375°F and bake for an additional 15-17 minutes, until golden brown around the edges. A toothpick inserted into the center should come out with just a few moist crumbs attached.
Allow to cool in the muffin tin for about 5 minutes before transferring to a wire rack to cool completely.
Once muffins are fully cooled, prepare the glaze. Whisk together sifted powdered sugar, vanilla extract, and a pinch of salt until completely smooth. If needed, add water 1 teaspoon at a time to thin out the mixture. Drizzle the glaze over the streusel topping, and your pumpkin muffins are ready to enjoy!