Preheat the oven to 375°F (190°C) and prepare a 12-cup muffin pan.
Whisk together the flour, baking powder, baking soda, pumpkin pie spice, cinnamon, nutmeg, cloves, and salt.
In another bowl, whisk together the pumpkin puree, eggs, brown sugar, granulated sugar, melted butter, vanilla extract, and milk.
Combine the wet and dry ingredients until just mixed.
Divide the batter evenly into the muffin cups.
Bake for 20 to 22 minutes until a toothpick inserted into the center comes out clean.
Cool for 5 minutes before transferring the muffins to a wire rack.