• Preheat the oven to 350 degrees F. Line a muffin pan with muffin liners or spray with cooking spray.

Streusel

• In a small mixing bowl, whisk ½ cup all-purpose flour, 3 tablespoons packed brown sugar, 2 tablespoons granulated sugar, and ¼ teaspoon ground cinnamon until evenly combined. Slowly drizzle 3 tablespoons of melted butter over the dry mixture and mix with a fork. Break up larger chunks of streusel. Set streusel aside.

Pumpkin muffins

• In a large mixing bowl, add 1 ½ cups all-purpose flour, ½ cup packed brown sugar, ½ cup granulated sugar, 1 ½ teaspoons pumpkin pie spice, 1 teaspoon baking powder, 1 teaspoon baking soda, and ½ teaspoon kosher salt and whisk until all the ingredients are combined.
• In a medium mixing bowl, add 1 cup pumpkin puree, ½ cup vegetable oil, ½ cup room temperature whole milk, 2 beaten eggs, and 1 teaspoon pure vanilla extract, and whisk until combined. Pour the contents of the combined wet ingredient bowl into the large mixing bowl containing the dry ingredients. Whisk until the muffin batter is combined. 
• Use a cookie scoop or spoon to fill each muffin liner with batter, leaving ¼” of space at the top for streusel. Then add 1 tablespoon of streusel to the top of each muffin. Place in oven and bake for 20 minutes or until lightly browned and a cake tester or toothpick comes out clean. Remove from the oven and place on a cooling rack. Allow the muffins to cool (about 20 minutes) before drizzling icing over the tops.

Icing for pumpkin streusel muffins

• In a small mixing bowl, combine ½ cup powdered sugar, 2 tablespoons heavy cream, and ½ teaspoon pure vanilla extract. Whisk until blended. Drizzle the glaze over the tops of the muffins.