Preheat your oven to 350°F (175°C) and grease a 9×13-inch baking dish.
In a large mixing bowl, combine the flour, granulated sugar, brown sugar, baking powder, baking soda, salt, cinnamon, nutmeg, ginger, and cloves.
In another bowl, whisk together the pumpkin puree, vegetable oil, eggs, milk, and vanilla extract until smooth.
Gradually add the wet ingredients to the dry ingredients, stirring just until combined.
Pour the batter into the prepared baking dish.
In a small bowl, prepare the crumb topping by cutting the cold butter into small pieces and mixing it with 1/2 cup flour and 1/2 cup brown sugar until crumbs form.
Evenly sprinkle the crumb topping over the cake batter.
Bake for 35-40 minutes, or until a toothpick inserted into the center comes out clean.
Allow the cake to cool completely in the baking dish.
While the cake is cooling, prepare the vanilla icing by combining the powdered sugar, milk, and vanilla extract until smooth and drizzleable. Adjust the consistency with more milk if necessary.
Once the cake is cooled, drizzle the vanilla icing over the top.
Variations & Tips
For a nuttier texture, you can add a half-cup of chopped pecans or walnuts to the crumb topping. If you prefer a more decadent cake, fold in some chocolate chips into the batter before baking. For a dairy-free version, substitute the milk with almond milk or coconut milk and the butter with margarine or a plant-based butter substitute. Adjust the spices to your liking, maybe adding a pinch of allspice for an extra warm flavor.
