Preheat the oven to 350 degrees. Coat a 9-inch baking pan with cooking spray.
Combine the flour together with the cinnamon, baking soda, baking powder, salt, nutmeg, and clove together in a small bowl; mix well.
Using a hand mixer, beat the pumpkin puree, sugar, oil, maple syrup, milk, and vanilla together until creamy.
Add the flour mixture and mix until just combined - don't over mix the batter.
Spoon it into the baking dish and spread it evenly. The batter will be very thick.
Make the crumb topping by combining the flour, brown sugar, cinnamon, and salt together in a bowl.
Cut in the cold butter using a pastry blender until crumbly.
Sprinkle the mixture evenly over the pumpkin batter.
Place into the oven and bake for 30-40 minutes, or until a tester inserted in the center comes out clean.
Remove from the oven and allow to cool.
Combine the powdered sugar with the milk; mix until thick and creamy.
Drizzle it over the coffee cake. Serve and enjoy.