Preheat your oven to 350°F (175°C). Line a muffin tin with paper liners.
In a large bowl, whisk together the flour, sugar, baking powder, baking soda, salt, cinnamon, nutmeg, cloves, and ginger.
In another bowl, beat the eggs, then add the pumpkin puree, vegetable oil, milk, and vanilla extract. Mix well.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix.
Divide the batter evenly among the muffin cups, filling each about ⅔ full.
Bake for 20-25 minutes, or until a toothpick inserted into the center comes out clean.
Let the muffins cool in the tin for 5 minutes, then transfer to a wire rack to cool completely.