Preheat oven to 350°F. Grease or line a 9x5-inch loaf pan with parchment paper.
In a large bowl, whisk together the pumpkin purée, granulated sugar, brown sugar, oil, eggs, Greek yogurt and vanilla until smooth.
Add the flour, pumpkin pie spice, baking powder, baking soda and salt. Mix just until combined.
Make the streusel by mixing the flour, brown sugar and cinnamon. Stir in the melted butter until crumbly.
Pour the pumpkin batter into the prepared loaf pan and sprinkle the streusel evenly over the top.
Bake for 55–65 minutes, or until a toothpick inserted into the center comes out clean or with a few moist crumbs. Let cool before removing from the pan.
Whisk together the powdered sugar, maple syrup and enough milk to make a drizzle. Spoon over the cooled pumpkin bread, slice and enjoy.
