Preheat the oven to 350°F (175°C). Line a muffin tin with cupcake liners and set aside.
In a medium bowl, whisk together the flour, baking powder, baking soda, salt, cinnamon, ginger, nutmeg, and cloves until well combined.
In a large mixing bowl, beat the softened butter and granulated sugar together on medium speed until light and fluffy, about 2 minutes. Add the eggs one at a time, beating well after each addition. Mix in the vanilla extract.
Add the pumpkin puree to the butter-sugar mixture and mix until fully incorporated, scraping down the sides of the bowl as needed.
Gradually add the dry ingredients to the wet ingredients, alternating with the milk, beginning and ending with the dry ingredients. Mix until just combined; do not overmix.
Divide the batter evenly among the prepared cupcake liners, filling each about 2/3 full. Bake for 18-20 minutes, or until a toothpick inserted into the center of a cupcake comes out clean.
Remove the cupcakes from the oven and let them cool in the pan for 5 minutes before transferring to a wire rack to cool completely.