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Preheat oven to 375°F. Place paper baking cups into muffin pan. Set aside.
Cinnamon Streusel: In a small bowl, whisk to combine the flour, sugar and cinnamon. Add the melted butter and stir with a fork until crumbly (can also beat with a hand mixer until crumbly). Set aside.
Pumpkin Muffins: In a medium bowl, whisk to combine the flour, pumpkin spice, baking soda and salt. Set aside.
In large bowl, whisk together pumpkin, sugar and brown sugar. Beat in eggs, vegetable oil and vanilla extract.
Slowly whisk in the flour mixture, until there are no lumps. Fill muffin tins ¾ full.
Top each muffin with about 2 to 3 tablespoons of streusel mixture and gently press down.
Bake muffins for 18 to 20 minutes, or until a toothpick inserted in the center comes out clean.
Cream Cheese Icing: In a small bowl, beat together cream cheese, powdered sugar, milk and vanilla until smooth. If needed, slowly add more milk until you reach a good drizzle consistency.
Drizzle the frosting onto the warm muffins and serve immediately!