Preheat the oven to 350° Fahrenheit and line a 12-cup muffin pan with paper liners.
Combine flour, brown sugar, and cinnamon in a small bowl. Cut in the cold butter with a fork until the mixture is crumbly and set aside.
In a medium bowl, whisk the flour, baking soda, salt, cinnamon, and pumpkin pie spice until evenly mixed.
In a large bowl, whisk the eggs, pumpkin puree, granulated sugar, brown sugar, oil, milk, and vanilla extract until smooth.
Add the dry ingredients to the wet ingredients and stir just until no streaks of flour remain, being careful not to overmix.
Divide the batter evenly among the prepared muffin cups, filling each about three-quarters full. Sprinkle the streusel topping evenly over each muffin.
Bake for 18 to 22 minutes until a toothpick inserted in the center comes out clean. Cool the muffins in the pan for 5 minutes, then transfer them to a wire rack to cool completely.