Preheat oven to 375°F. Line a 12-cup muffin pan with paper liners and lightly coat the top of the pan with nonstick spray.
In a large bowl, whisk together flour, baking powder, baking soda, salt, cinnamon, nutmeg, ginger, and cloves.
In a medium bowl, whisk pumpkin puree, eggs, granulated sugar, brown sugar, vegetable oil, milk, and vanilla until smooth.
Pour wet ingredients into dry ingredients and gently fold until just combined; do not overmix.
Divide batter evenly among muffin cups (about 0.75 full). Sprinkle tops with turbinado sugar if using.
Bake 18 to 22 minutes, or until a toothpick inserted in the center of a muffin comes out clean. Rotate the pan halfway through baking.
Cool in the pan for 5 minutes, then transfer muffins to a wire rack to cool completely or serve warm.
Notes
For extra moisture, use oil instead of butter. Stir in 0.5 cup chocolate chips or chopped nuts if desired. Store in an airtight container at room temperature for up to 3 days or freeze for up to 2 months.