Preheat the oven to 375°F (190°C). Line a 12-cup muffin tin with paper liners or grease lightly with cooking spray.
In a large mixing bowl, whisk together the flour, granulated sugar, brown sugar, baking soda, baking powder, salt, cinnamon, nutmeg, and cloves until well combined.
In a separate bowl, beat the eggs lightly. Add the pumpkin puree, vegetable oil, milk, and vanilla extract, and whisk until smooth.
Pour the wet ingredients into the dry ingredients. Gently fold the mixture together using a spatula until just combined, being careful not to overmix. The batter should be thick and slightly lumpy.
Divide the batter evenly among the prepared muffin cups, filling each about 3/4 full.
Bake in the preheated oven for 18 to 22 minutes, or until a toothpick inserted into the center of a muffin comes out clean.
Remove the muffins from the oven and let them cool in the pan for 5 minutes before transferring to a wire rack to cool completely.