01 - Preheat oven to 350°F. Line a 12-cup muffin tin with paper liners.
02 - Whisk together flour, baking powder, baking soda, salt, cinnamon, nutmeg, cloves, and ginger in a medium bowl.
03 - In a large bowl, beat together brown sugar, eggs, pumpkin puree, vegetable oil, milk, and vanilla extract until smooth.
04 - Gradually fold the dry mixture into the wet ingredients until just combined. Do not overmix.
05 - Beat cream cheese and butter until creamy in a separate bowl. Add maple syrup, powdered sugar, and vanilla extract. Mix until smooth.
06 - Spoon pumpkin batter halfway into each muffin cup. Add 1 heaping teaspoon of maple cream filling in the center, then cover with remaining batter until cups are about three-quarters full.
07 - Sprinkle turbinado sugar or chopped pecans over the top if desired.
08 - Bake for 20 to 22 minutes, until a toothpick inserted into the edge of a muffin (not the center filling) comes out clean.
09 - Allow muffins to cool in pan for 5 minutes, then transfer to a wire rack to cool completely.