Preheat your oven to 350°F. Line a 9x9-inch baking pan with parchment paper, leaving some overhang on two sides for easy removal. Set aside.

In a large mixing bowl, whisk together the flour, granulated sugar, baking soda, baking powder, salt, cinnamon, nutmeg, and cloves until well combined.

Make a well in the center of the dry ingredients. Add the eggs, pumpkin puree, milk, vegetable oil, and vanilla. Whisk the wet ingredients together in the well for about 30 seconds, then gently fold them into the dry mixture just until no streaks of flour remain. Do not overmix.

Pour the batter into the prepared pan and spread it evenly. Set aside while you prepare the crumb topping.

In the same bowl (or a clean one), combine the flour, brown sugar, cinnamon, and salt. Add the softened butter and use a pastry cutter or your fingers to work it into the dry ingredients until the mixture resembles coarse crumbs and begins to clump together.

Sprinkle the crumb topping evenly over the pumpkin batter, making sure to cover the surface completely and reach the edges.

Bake for 30 to 40 minutes, or until a toothpick inserted into the center of the cake comes out clean or with a few moist crumbs. Allow the cake to cool completely in the pan on a wire rack.

While the cake cools, prepare the glaze: In a medium bowl, whisk together the confectioners' sugar, maple syrup, milk, vanilla, and salt until smooth. If the glaze is too thick, add a little more milk (1 teaspoon at a time); if too thin, add more confectioners' sugar.

Once the cake is fully cool, drizzle the glaze over the top in a zigzag pattern. Let the glaze set for about 10 minutes, then lift the cake out of the pan using the parchment overhang. Slice into 16 pieces and serve.