01 - Preheat oven to 350°F. Line a 12-cup muffin tin with paper liners.
02 - In a large bowl, whisk together flour, granulated sugar, brown sugar, baking powder, baking soda, salt, cinnamon, nutmeg, cloves, and ginger until well blended.
03 - In a separate bowl, whisk eggs, pumpkin purée, vegetable oil, milk, and vanilla extract until combined.
04 - Add wet mixture to dry ingredients and stir gently with a spatula until just incorporated, taking care not to overmix.
05 - Divide batter evenly among muffin cups, filling each about three-quarters full.
06 - Bake for 20 to 22 minutes, or until a toothpick inserted into the center comes out clean. Cool muffins in tin for 5 minutes, then transfer to wire rack to cool completely.
07 - In a medium mixing bowl, beat softened cream cheese and butter with an electric mixer until smooth and fluffy. Add powdered sugar, vanilla, poppy seeds, and salt; continue beating until creamy and smooth.
08 - Once muffins are fully cooled, spread or pipe the frosting generously over each muffin.