Preheat oven to 400 degrees. Line muffin cups with paper liners.
In a medium-sized bowl, whisk together the flour, baking powder, baking soda, salt, pumpkin pie spice, cinnamon, nutmeg, and cloves. Set aside.
In a separate small bowl, or glass measuring cup, combine the milk and buttermilk. Set aside.
In a large mixing bowl, or in the bowl of a stand mixer, beat together the butter, granulated sugar, and brown sugar on medium speed until fluffy and combined, about 2 minutes. Mix in one egg at a time until combined. Add in vanilla and pumpkin puree. Blend together until combined.
Using a spatula, add the dry mixture into the butter/sugar mix in three separate batches, alternating with two additions of the milk mixture, mixing until just combined.
Divide the batter into the muffin cups. Filing each until nearly fully. Bake for 15-20 minutes or until a toothpick inserted into the center of a muffin comes out clean. Transfer to a wire rack to cool.
Prepare the glaze by whisking together the powdered sugar, cinnamon, maple syrup, and milk. Depending on the consistency, you may need to add more or less milk. You want a thick glaze so that it stays on the muffin but not so thick that you can't even dip the muffin into it.
When the muffins are cool (or almost cool) dip the muffin into the glaze to evenly coat the top. Allow the glaze to set or enjoy the muffins warm.