Preheat Oven: Preheat your oven to 350°F (175°C). Grease a 9x5 inch loaf pan or line it with parchment paper.
Prepare the Streusel Topping: In a small bowl, mix together the flour, brown sugar, granulated sugar, and cinnamon. Add the melted butter and stir until the mixture is crumbly. Set aside.
Mix Dry Ingredients: In a medium bowl, whisk together the flour, baking soda, baking powder, salt, cinnamon, nutmeg, ginger, and cloves.
Mix Wet Ingredients: In a large bowl, whisk together the granulated sugar, brown sugar, and vegetable oil until combined. Add the eggs one at a time, beating well after each addition. Stir in the pumpkin puree, milk, and vanilla extract until smooth.
Combine Wet and Dry Ingredients: Gradually add the dry ingredients to the wet ingredients, stirring until just combined. Do not overmix.
Pour Batter into Pan: Pour the batter into the prepared loaf pan and spread it evenly. Sprinkle the streusel topping evenly over the batter.
Bake: Bake in the preheated oven for 50-60 minutes, or until a toothpick inserted into the center comes out clean. If the streusel starts to brown too quickly, cover the loaf loosely with aluminum foil.
Cool and Serve: Allow the bread to cool in the pan for 10 minutes, then transfer to a wire rack to cool completely before slicing.