Preheat oven to 350°F. Line a 12-cup muffin pan with paper liners.
Make crumb topping: Whisk 2/3 cup flour, 1/3 cup brown sugar, 1 1/4 teaspoons cinnamon, and pinch of salt. Stir in 1/4 cup melted butter until coarse crumbs form. Refrigerate.
Make cream cheese filling: Beat 6 oz cream cheese, 1/4 cup sugar, and 1 teaspoon vanilla until smooth, about 2 minutes. Set aside.
Make batter: Whisk 1 1/2 cups flour, 1 1/2 teaspoons cinnamon, ginger, nutmeg, cloves, baking powder, and 1/2 teaspoon salt in medium bowl.
In large bowl, whisk pumpkin puree, 1/2 cup sugar, 1/4 cup brown sugar, eggs, oil, milk, and 1 teaspoon vanilla until smooth.
Add dry ingredients to wet ingredients. Stir just until combined - do not overmix.
Assembly: Spoon 2 tablespoons batter into each liner. Add 1 tablespoon cream cheese filling in center. Top with more batter until 3/4 full.
Sprinkle chilled crumb topping over each muffin, pressing gently to adhere.
Bake 23-26 minutes until toothpick inserted in pumpkin part comes out with few moist crumbs. Cool 10 minutes in pan, then transfer to wire rack.