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Preheat oven to 350 degrees and line muffin tin with 12 liners.
In a medium bowl, mix together the milk, vinegar, applesauce, brown sugar, oil, egg and vanilla, beating to ensure everything is evenly mixed.
Add the spices, followed by oats, then the baking powder, baking soda and salt.
Stir in the flour 1 cup at a time until mixture just comes together in a thick batter.
Divide the batter evenly among the muffin cups.
Make up the streusel topping by rubbing the butter into the dry ingredients until there are no large pieces of butter remaining.
Carefully spoon this on top of the filled muffin cups, pressing very gently to bond the two.
Bake for 23 minutes, or until the tops are slightly brown and a toothpick inserted into the muffins comes out clean.
Remove from oven, allow to cool for a few minutes in the pans, then move to a wire rack to finish cooling.
While you wait, make up the icing: Combine the icing sugar, vanilla, nutmeg and maple syrup in a small bowl.
Gradually begin adding milk until you have a thick but workable consistency.
Drizzle this over the cooled muffins and enjoy!