In a large bowl combine the 1 2/3 cup of flour, baking powder, salt, 1 teaspoon cinnamon, ginger, nutmeg, and cloves.
In another bowl combine the 1/4 cup melted butter, 1/2 cup brown sugar, granulated sugar, eggs, pumpkin, and milk.
Add the dry ingredients to the wet ingredients and mix just until combined.
Divide the batter between the 12 muffin tins (it is okay to fill tins about 3/4 full). Top each muffin with the streusel and press lightly on the topping to adhere to the batter.
Place in the preheated oven and bake for 16 to 18 minutes or until a wooden pick inserted comes out clean or with a few moist crumbs.
Remove from the oven and set on a cooling rack and cool for a few minutes. Remove the muffins from the tins and continue to cool on the cooling rack until the muffins are cooled.