Start by preheating your oven to 375 degrees F and lining a muffin tin with paper liners. In a large mixing bowl, combine the pumpkin puree, eggs, sugars, milk, vanilla extract, and melted butter. Mix until well combined.
In a separate bowl, sift together the dry ingredients – flour, baking powder, baking soda, salt, pumpkin pie spice, and cinnamon.
Gradually add the dry mixture to the wet mixture and mix until just combined. Don’t overmix!
To make the streusel topping, simply combine all the ingredients in a small mixing bowl until crumbly.
Fill each muffin liner with about ¼ cup of batter and sprinkle streusel on top.
Bake for 18-20 minutes or until a toothpick inserted in the center comes out clean. And there you have it! Delicious pumpkin streusel muffins ready to be devoured.