Preheat oven to 425 degrees. Line or grease a 12-cup muffin tin.
In a medium bowl, whisk together the flour, baking powder, baking soda, salt, cinnamon, ginger, cloves and nutmeg. Set aside.
In a large bowl, whisk together the pumpkin puree and egg until well combined. Mix in the sugar, brown sugar and vanilla. Add in the vegetable oil, maple syrup and milk, mixing until well combined. Pour over the dry ingredients and mix together with a wooden spoon until just combined.
Divide every amongst muffin cups. Bake at 425 for five minutes. Lower heat to 350 degrees and bake for an additional 12-15 minutes or until a toothpick comes out clean. Cool in tin for about five minutes before removing and transferring to a wire rack.
To make the glaze, whisk together the sifted powdered sugar, maple syrup, maple extract and milk. If you prefer a thinner glaze, add additional milk a splash at a time until you get the desired result.
Once muffins have cooled, top with glaze.