Prepare the Pecan Streusel Topping

In a medium bowl, combine the flour, brown sugar, cinnamon, salt, and chopped pecans. Add the cold butter and mix with a fork or your fingertips until coarse crumbs form. Refrigerate the streusel while preparing the muffin batter.

Preheat the Oven

Preheat your oven to 375°F (190°C). Line a standard 12-cup muffin pan with paper liners.

Mix the Dry Ingredients

In a large mixing bowl, whisk together the flour, baking powder, baking soda, pumpkin pie spice, cinnamon, and salt until evenly combined.

Combine the Wet Ingredients

In a separate bowl, whisk together the pumpkin puree, brown sugar, granulated sugar, eggs, vegetable oil, milk, and vanilla extract until smooth.

Prepare the Muffin Batter

Gradually add the dry ingredients to the wet ingredients. Gently fold with a spatula until just combined. Avoid overmixing to keep the muffins soft and fluffy.

Fill the Muffin Cups

Divide the pumpkin batter evenly among the prepared muffin liners, filling each approximately three-quarters full. Sprinkle the chilled pecan streusel generously over each muffin.

Bake the Muffins

Bake for 20–25 minutes or until the muffin tops are golden brown and a toothpick inserted into the center comes out clean or with a few moist crumbs.

Cool the Muffins

Allow the muffins to cool in the pan for 5 minutes before transferring them to a wire rack.

Prepare the Maple Glaze

In a small bowl, whisk together the powdered sugar, maple syrup, and milk until smooth. Adjust the consistency by adding a little more milk if necessary.

Glaze and Serve

Drizzle the maple glaze over the cooled pumpkin streusel muffins. Serve and enjoy.