Preheat your oven to 375°F while you get your muffin tin ready. Line all 12 cups with paper liners, then give each one a light spray of cooking oil. This little extra step makes sure nothing sticks once the muffins are done baking.
In a large bowl, combine the pumpkin puree, both sugars, vegetable oil, milk, eggs, and vanilla extract. Whisk everything together until it looks smooth and fully combined, with no streaks of egg or oil left behind.
Sprinkle the flour, baking soda, baking powder, cinnamon, ginger, nutmeg, cloves, and salt right over the wet mixture. Stir everything together gently just until the flour disappears, since overmixing here is what leads to dense, tough muffins.
Scoop the batter into your prepared muffin cups, filling each one about two-thirds of the way full. This gives the muffins enough room to rise nicely without overflowing all over your pan.
In a separate bowl, stir together the melted butter, brown sugar, maple syrup, flour, salt, and chopped pecans until the mixture looks like wet sand. Sprinkle it generously over each muffin, dividing it evenly across all 12 cups.
Bake for 15 to 17 minutes, checking with a toothpick inserted into the center of a muffin. It should come out mostly clean with just a few moist crumbs. Let the muffins cool slightly in the pan before transferring them to a rack.