Preheat oven to 350F degrees. Spray two 12-count muffin pans with non-stick spray or line with cupcake liners. Set aside.
In a large bowl, toss the flour, baking powder, baking soda, salt, cinnamon, nutmeg, and cloves together until combined. Set aside.
In a medium bowl, whisk the brown sugar and eggs together until combined. Add the pumpkin, oil, milk, and vanilla until combined. Pour the wet ingredients into the dry ingredients and stir until just combined. Do NOT overmix the batter.
Spoon the batter evenly into 12 cups. Bake for 20 minutes or until a toothpick inserted in the center comes out clean. Allow to cool completely before frosting.
For the frosting, in a stand mixer with a paddle attachment, beat the cream cheese and butter until light and fluffy (about 2-3 minutes). Add your confectioner sugar one cup at a time on low speed. Scrape down sides in between. Beat for about 3 minutes more. Then add your vanilla and cinnamon. Once your cupcakes are cooled, pipe your frosting onto your cupcakes. I used a 1M wilton star tip to swirl my frosting. You can always just use a spatula and cover in sprinkles. Trust me, no one will mind. These are delicious either way!