Preheat your oven to 350°F (175°C) and line a 9 x 9-inch baking pan with parchment paper.

In a large mixing bowl, whisk together the dry ingredients: all-purpose flour, granulated sugar, baking soda, baking powder, salt, cinnamon, nutmeg, and cloves until well blended.

Make a well in the center of the dry mixture and crack in the eggs, then add the pumpkin puree, milk, canola oil, and vanilla extract. Blend the wet ingredients for about 30 seconds, then gently fold with a spatula until just combined.

Pour the cake batter into the prepared baking pan, spreading it evenly with a spatula.

In a separate bowl, combine the crumb topping ingredients: all-purpose flour, light brown sugar, ground cinnamon, salt, and melted unsalted butter. Mix until the mixture resembles coarse crumbs.

Sprinkle the crumb topping evenly over the cake batter.

Place the pan in the preheated oven and bake for 30-40 minutes, checking for doneness by inserting a knife into the center.

Once baked, allow the cake to cool in the pan for about 10 minutes then prepare the glaze by whisking together confectioners' sugar, maple syrup, milk, vanilla extract, and a pinch of salt.

Drizzle the sweet vanilla glaze over the cooled cake, then slice into 16 pieces and serve.