Preheat oven to 350°; line 16 muffin cups with muffin liners and set aside.
In a large bowl, combine flour, sugar, pumpkin pie spice, nutmeg, baking soda and salt; blend well and side aside.
In medium bowl, whisk eggs until fluffy; add milk, pumpkin, and vanilla. Mix well.
Pour pumpkin mixture into flour mixture and stir until all ingredients are well combined.
Fill muffin cups 2/3 full with batter; set aside.
In a small bowl, add all streusel ingredients and mix until crumbly.
Evenly spread topping among 16 muffin cups.
Bake for 30-35 minutes or until a toothpick inserted in the center of one of muffins comes out clean.
While muffins are baking, prepare glaze and set aside. When muffins are done and cooled, top each with glaze before serving