In a large bowl, whisk together flour, sugar, spices, baking soda, and salt.
In a medium bowl, whisk together pumpkin, milk, and oil. Pour wet ingredients into dry ingredients and mix with a rubber spatula just until combined, being careful not to over-mix. The batter will be thick.
Spoon batter into muffin tin, filling almost to the top. Bake for about 23 minutes, or until a toothpick or knife comes out clean.
Remove from oven and cool on a cooling rack. Store in an air-tight container on the counter for a up to 4 days or in the refrigerator/freezer for longer.