Preheat oven to 425°F. Fill a muffin pan (12 count) with cupcake liners or spray each individual muffin space with non-stick spray.
In a large bowl, whisk together the flour, cinnamon, baking soda, pumpkin pie spice and salt until completely combined and set aside.
In another bowl, whisk the canola oil, sugar, brown sugar, pumpkin puree, eggs and milk together until completely mixed to make the “wet ingredients”.
Add the dry ingredients (flour mixture) to the wet ingredients and stir gently with a spatula until just combined. Don’t overmix. Just mix until no flour remains.
Spoon the batter into the prepared muffin pan. You want to fill the muffin tins to almost full.
Make the Crumb Topping
Whisk the flour, granulated sugar, brown sugar, and pumpkin pie spice together until combined. Carefully mix in the melted butter until crumbs form. Try not to over-mix. Spoon crumbs evenly on top of the batter and gently press them down into the batter. NOTE: If the “crumbs” look more like dough, it’s okay. Just break it up into small pieces and place on top of the muffins.
Bake the muffins for 5 minutes at 425°F and then reduce the oven temperature to 350°F (177°C) but keep the muffins in the oven the entire time! Bake for an additional 17-18 minutes or until a toothpick inserted in the center comes out clean. Let the muffins to cool for 10 minutes in the muffin pan as you make the icing.
Make the Maple Icing
Whisk all of the icing ingredients together until combined and smooth. Drizzle over muffins with a spoon or fork and serve warm. Cover tightly and store at room temperature for 1-2 days or in the refrigerator for up to 1 week.