Preheat oven to 350°F (175°C). Grease a 9×5-inch loaf pan or line with parchment paper.
In a medium bowl, whisk together the flour, baking soda, baking powder, salt, cinnamon, nutmeg, and cloves.
In a large bowl, combine pumpkin purée, eggs, orange juice, oil, brown sugar, granulated sugar, and vanilla.
Gradually stir the dry ingredients into the wet ingredients until just combined. Do not overmix.
Fold in chopped nuts and orange zest, if using.
Pour the batter into the prepared loaf pan.
In a small bowl, combine the streusel ingredients until crumbly. Sprinkle evenly over the batter.
Bake for 55–60 minutes or until a toothpick inserted in the center comes out clean.
Cool in the pan for 10 minutes, then transfer to a wire rack to cool completely.
Once cool, whisk together the glaze ingredients and drizzle over the bread.