Preheat oven to 350°F and line a 9 x 9-inch pan with parchment paper. Set aside.

In a large bowl, mix together flour, sugar, baking soda, baking powder, salt, nutmeg, cinnamon, and cloves until combined.

Make a well in the center of the dry ingredients. Pour in eggs, pumpkin puree, milk, oil, and vanilla. Whisk together the wet ingredients for about 30 seconds, then fold them into the dry ingredients until just combined.

Pour the batter into the prepared pan and set aside to make the topping.

In a large bowl, mix together the flour, brown sugar, cinnamon, nutmeg, and salt. Using a pastry cutter, cut in the butter until the mixture starts to clump together.

Pour the crumble on top of the pumpkin batter, spreading out evenly to the edges.

Bake for 30-40 minutes, or until a knife inserted in the center of the pan comes out clean. Allow to cool.

While the cake cools, make the vanilla glaze. In a medium bowl combine the confectioners’ sugar, maple syrup, milk, vanilla, and salt. Whisk to combine. Adjust the consistency with more milk or confectioners' sugar as needed.

Once the cake is cool, drizzle with icing, slice into 16 pieces and serve.