Preheat your oven to 350°F (175°C).
Grease a 9x5” loaf pan or line a muffin tin with paper liners.
Whisk flour, baking soda, baking powder, salt, and spices in a medium bowl.
In a large bowl, beat eggs and sugar until light and fluffy (2-3 min). Add oil, pumpkin puree, milk, and vanilla. Mix until smooth.
Fold in dry ingredients gently until just combined - don’t overmix!
Pour batter into prepared loaf pan or muffin tin. For muffins, fill cups about ¾ full.
Bake the loaf: 55–65 min. Muffins: 20–25 min. Until a toothpick should come out clean from the center.
Cool for 10 minutes in the pan, then transfer to a wire rack. Slice once cooled (if you can wait that long).
(Optional, but highly recommended) Top it with the absolutely delicious cinnamon icing!