Preheat the oven to 350°F and prepare a cupcake pan with liners. Set aside.
In the bowl of a stand mixer, whisk together the flour, sugars, cinnamon, nutmeg, cloves, baking powder, soda, and salt.
Add in the oil, eggs, vanilla, pumpkin puree, and milk. Mix thoroughly, stopping the mixer, scraping the side, and mixing again.
Divide the batter amongst the cupcake liners, filling each cavity about ⅔ full.
Bake in the preheated oven for 16 - 18 minutes, or until a toothpick inserted in the center of the cupcake comes out clean. Allow it to cool completely before decorating.