Preheat the oven to 375°F. Line a 12-cup muffin pan with liners and lightly spray with non-stick cooking spray.
In a large mixing bowl, blend together the pumpkin puree, granulated sugar, brown sugar, canola oil, milk, eggs, and vanilla extract until smooth.
In a separate bowl, whisk together the flour, baking powder, baking soda, cinnamon, ginger, nutmeg, cloves, and salt. Gradually add these dry ingredients to the pumpkin mixture, stirring until just combined.
Divide the batter evenly among the prepared muffin cups, filling each about 2/3 full.
For the streusel topping, mix together the flour, brown sugar, salt, pecans, and melted butter in a small bowl until the mixture resembles coarse crumbs. Drizzle in the maple syrup and stir to combine. Sprinkle this streusel mixture evenly over the muffin batter.
Bake in the preheated oven for 18-20 minutes, or until a toothpick inserted into the center of a muffin comes out clean. Allow the muffins to cool in the pan for a few minutes before transferring to a wire rack to cool completely. Enjoy your delicious pumpkin streusel muffins!