Preheat oven to 350°F (175°C) and prepare a muffin tin with liners or nonstick spray.

In a large bowl, whisk together the flour, baking powder, baking soda, salt, cinnamon, and nutmeg.

In a separate bowl, combine pumpkin puree, brown sugar, granulated sugar, eggs, oil, vanilla, and milk until smooth.

Add the wet mixture into the dry ingredients and stir just until combined—do not overmix.

Divide the batter evenly among the muffin cups, filling each about 3/4 full.

Bake for 18–22 minutes, or until a toothpick inserted into the center comes out clean.

While muffins bake, melt butter and mix cinnamon and sugar for the topping in a separate bowl.

Let muffins cool slightly, then dip the tops in melted butter and roll in cinnamon sugar.

Enjoy warm or let them cool completely on a wire rack.