Preheat oven to 350 degrees. Spray a 9x9-inch baking with nonstick baking spray.
Use a fork to stir the brown sugar, granulated sugar, ground cinnamon, salt, and butter in a medium bowl. Add the flour in two increments, stirring until large crumbs form.
Whisk the flour, baking powder, baking soda, salt, cinnamon, nutmeg, and ground cloves in a medium bowl.
Combine the pumpkin puree, granulated sugar, eggs, vegetable oil, milk, and vanilla extract in a large bowl. Add the flour mixture to the pumpkin mixture in a couple of increments, stirring just until combined.
Pour the cake batter into a well-greased 9x9-inch baking dish. Evenly sprinkle the crumbs over the cake and gently press them slightly into the cake. Bake for 35-40 minutes or until a toothpick inserted in the center comes out with no wet batter.
Let the cake fully cool. Stir the powdered sugar, milk, maple syrup, and a pinch of cinnamon. Drizzle the glaze over the cake.