Preheat your oven to 350°F (175°C). Grease a standard 9×5 inch loaf pan with butter or non-stick cooking spray. For even easier removal, you can line the bottom with a strip of parchment paper.
In a medium-sized mixing bowl, whisk together the all-purpose flour, baking soda, baking powder, salt, cinnamon, nutmeg, and cloves. Ensure there are no large lumps of spice or flour left.
In a large bowl, whisk the melted butter with the granulated sugar and brown sugar until well combined. Add the eggs one at a time, beating well after each addition. Stir in the pumpkin puree, milk, and vanilla extract until the mixture is smooth.
Gradually add the dry ingredients to the wet ingredients. Use a spatula or wooden spoon to fold the mixture together until just combined. Be careful not to overmix, as this can make the bread tough.
Pour the batter into the prepared loaf pan and smooth the top. Bake for 55 to 65 minutes, or until a toothpick inserted into the center comes out clean or with just a few moist crumbs attached.
Let the bread cool in the pan for 10 minutes before transferring it to a wire rack to cool completely. While cooling, whisk together the powdered sugar, maple syrup, and heavy cream until smooth. Drizzle the glaze generously over the cooled bread before slicing.