Preheat your oven to 350 degrees F. Grease two 12-count muffin tins with nonstick cooking spray and set them aside.

In a medium bowl, whisk together the all-purpose flour, pumpkin pie spice, baking soda, and salt until well combined.

In a large bowl, whisk together the eggs, granulated sugar, brown sugar, vegetable oil, whole milk, vanilla extract, and the can of Libby pumpkin pie filling until the mixture is smooth.

Pour the dry ingredients into the wet mixture and stir just until no lumps remain. If using, fold in the chopped nuts.

Scoop the batter into the prepared muffin tins, filling each cup about three-quarters full.

Bake for 20 to 25 minutes, or until the muffins feel springy when gently pressed and a toothpick inserted into the center comes out clean. Allow to cool in the pan for a few minutes, then transfer to a wire rack. Repeat with any remaining batter.