Preheat oven to 350°F (175°C) and grease a loaf pan.
In a bowl, whisk together flour, baking soda, baking powder, salt, cinnamon, nutmeg, ginger, and cloves.
In another bowl, whisk together pumpkin puree, vegetable oil, eggs, sugars, vanilla extract, and milk until smooth.
Gradually fold the dry ingredients into the wet mixture until just combined.
Pour batter into the prepared loaf pan and bake for 50-55 minutes, or until a toothpick inserted in the center comes out clean.
Let cool in the pan for 10 minutes, then transfer to a wire rack to cool completely.
For the glaze, whisk together powdered sugar, maple syrup, and milk until smooth. Drizzle over the cooled bread.
Slice and enjoy!