Preheat the oven to 400 degrees. Coat a muffin pan with cooking spray.
Combine the flour, baking powder, cinnamon, nutmeg, cloves, ginger and salt then mix well.
Whisk together the sugar and eggs until thickened and lighter in color, about 1 minute. Add the buttermilk, oil and vanilla; whisk until smooth and creamy.
Gradually add the flour mixture to the batter until just combined. Fold in the carrots. The batter will be thick.
Spoon the batter equally into the muffin pan filling them to the top.
Make the streusel by combining the flour, brown sugar, cinnamon and melted butter; mix until crumbly.
Sprinkle the streusel evenly over each muffin.
Place into the oven and bake for 5 minutes. Reduce the heat to 350 degrees and continue to cook for 15-20 minutes, or until a tester inserted in the center comes out clean.
Remove from the oven and cool in the pan for a few minutes before putting them on a wire rack over parchment paper to finish cooling.
Make the glaze by combining the powdered sugar together with the heavy cream and vanilla extract and mix until creamy and smooth.
Drizzle over the top of the muffins. Serve and enjoy.