Preheat the oven to 350°F (175°C) and grease a 9x9-inch or 9x13-inch baking pan.

In a large mixing bowl, whisk together flour, baking powder, baking soda, cinnamon, ginger, nutmeg, and cloves.

In a separate bowl, whisk together pumpkin purée, vegetable oil, brown sugar, eggs, and vanilla extract until smooth.

Gradually add the dry ingredients into the wet mixture, stirring just until combined. Do not overmix.

For the streusel, combine flour, brown sugar, cinnamon, and salt in a small bowl. Stir in the melted butter until the mixture becomes crumbly.

Pour half of the batter into the prepared pan. Sprinkle half of the streusel mixture over the batter. Add the remaining batter and top with the remaining streusel.

Bake for 35-55 minutes, or until a toothpick inserted in the center comes out clean and the top is golden brown.

While the cake is baking, prepare the glaze by whisking together powdered sugar, maple syrup, and milk or water until smooth.

Once the cake has cooled slightly, drizzle the maple glaze over the top of the cake.

Allow the glaze to set before slicing and serving the cake.