Preheat your oven to 350°F (175°C) and line a muffin tin with paper liners or lightly grease the cups.
In a medium bowl, whisk together the flour, baking soda, baking powder, salt, and spices (cinnamon, nutmeg, ginger, and cloves).
In a separate large bowl, beat the eggs and sugar together until well combined. Add the pumpkin puree, vegetable oil, milk, and vanilla extract, and mix until smooth.
Gradually add the dry ingredients to the wet mixture, stirring until just combined. Be careful not to overmix.
Scoop the batter into the prepared muffin tin, filling each cup about ¾ of the way full.
Bake for 20-25 minutes, or until a toothpick inserted into the center of a muffin comes out clean.
Allow the muffins to cool in the pan for 5 minutes, then transfer them to a wire rack to cool completely.