Preheat the oven to 350°F (175°C). Grease and flour a 9×5-inch loaf pan.
In a medium bowl, whisk together the flour, baking soda, baking powder, salt, cinnamon, nutmeg, cloves, and ginger until well combined.
In a large bowl, beat the softened butter and granulated sugar together with an electric mixer on medium speed until light and fluffy, about 3 minutes.
Add the eggs one at a time, beating well after each addition.
Mix in the pumpkin puree, milk, and vanilla extract until combined.
Gradually add the dry ingredients to the wet ingredients, mixing on low speed until just combined. Do not overmix.
In a small bowl, prepare the streusel topping by combining the brown sugar, flour, and cinnamon. Add the cold butter pieces and use your fingers or a pastry cutter to blend until the mixture resembles coarse crumbs.
Pour the batter into the prepared loaf pan and evenly sprinkle the streusel topping over the batter.
Bake for 55 to 65 minutes, or until a toothpick inserted into the center comes out clean.
Remove the bread from the oven and allow it to cool in the pan for 15 minutes.
Transfer the bread to a wire rack to cool completely before slicing.