Prep your pan and oven. Heat the oven to 350°F (175°C).
Line a 12-cup muffin tin with paper liners or lightly grease it.
Whisk the dry ingredients. In a medium bowl, whisk flour, baking soda, baking powder, salt, cinnamon, nutmeg, cloves, and ginger until well combined.
Mix the wet ingredients. In a large bowl, whisk granulated sugar, brown sugar, and eggs until smooth. Add pumpkin puree, oil, milk, and vanilla. Whisk until the mixture looks creamy and fully blended.
Combine gently. Add the dry mixture to the wet and stir with a spatula just until no streaks of flour remain.
If using add-ins, fold them in now. Do not overmix—it keeps the muffins tender.
Fill the cups. Divide the batter evenly among the muffin cups, about 3/4 full. Sprinkle with the cinnamon-sugar topping if using.
Bake. Bake for 18–22 minutes, or until the tops spring back when lightly touched and a toothpick comes out clean or with a few moist crumbs.
Cool. Let muffins cool in the pan for 5 minutes, then transfer to a wire rack to cool completely or enjoy warm.