Preheat your oven to 375°F (190°C) and prepare a 12-cup muffin tin with liners or cooking spray.
In a large mixing bowl, whisk together flour, baking powder, baking soda, salt, and pumpkin pie spice.
In another bowl, beat the softened butter and granulated sugar until light and fluffy. Add pumpkin puree, eggs, vanilla extract, and milk, mixing until combined.
Gradually add the dry ingredients to the wet ingredients, mixing gently until just combined.
In a separate bowl, combine brown sugar, cinnamon, and melted butter to create the cinnamon swirl.
Fill each muffin cup halfway with batter, add about a teaspoon of the cinnamon mixture, then top with more batter until the cups are about ¾ full. Use a toothpick to swirl the cinnamon mixture into the batter.
Bake for 20-25 minutes, or until a toothpick comes out clean. Allow to cool for 5-10 minutes before transferring to a wire rack.
If desired, whisk together powdered sugar, milk, and vanilla extract to create a glaze, and drizzle over warm muffins before serving.
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Notes
Store leftovers in an airtight container at room temperature for up to 3 days.