Preheat your oven to 350℉ and prepare your muffin baking pan with paper liners. Consider spraying the inside of the liners with cooking oil to help remove the muffins after baking.
Grab your large mixing bowl and whisk together the flour, granulated sugar, brown sugar, baking soda, baking powder, and salt. Also mix in the cinnamon, nutmeg, cloves, and ginger.
Grab your medium mixing bowl and use a handheld or stand mixer to beat the eggs. Then, add in the pumpkin puree, vegetable oil, milk, and vanilla extract. Mix everything until it is well combined, usually ~2-3 minutes.
Carefully add the mixing bowl of wet ingredients (from Step #3) to the dry ingredients (from Step #2). Stir until just combined and do not overmix.
Gently fold in the chopped walnuts.
Grab the prepared muffin baking pan and use a spoon or scoop to fill the muffin cups ⅔-¾ of the way with the muffin batter.
Bake @ 350℉ for 20-25 minutes or until a toothpick inserted into the center of one of the muffins comes out clean.
Carefully remove the muffins from the oven and allow to cool for 5-10 minutes. You can also transfer to a wire rack to cool further. Now they are ready to enjoy!