Preheat oven to 400 degrees. Line a 12-cup standard muffin tin with paper liners; set aside.
In a large bowl, combine flour, baking powder, cinnamon, nutmeg, ginger, cloves, baking soda and salt.
In a medium bowl, whisk together pumpkin puree and Greek yogurt.
In the bowl of an electric mixer fitted with paddle attachment, beat butter and sugars on medium speed until light and fluffy, about 2-3 minutes. Beat in vegetable oil and vanilla until well combined. Beat in eggs, one at a time, until well combined. With mixer on low speed, add dry ingredients and pumpkin mixture alternately in 3 parts, beginning and ending with dry ingredients, beating just until incorporated.
Scoop the batter evenly into the muffin tray. Place into oven and bake for 13-15 minutes, or until a tester inserted in center comes out clean.
To make the glaze, combine confectioners’ sugar, milk and vanilla. Whisk until smooth. If the glaze is too thick, add more milk as needed.
When the muffins are done, cool for 10 minutes and dip the muffin crown into the glaze.