Preheat the oven to 350 degrees F. Line 18 muffin tins with paper liners, or spray with cooking spray. Set aside.
In a medium bowl, whisk together the flour, baking soda, baking powder, cinnamon, ginger, nutmeg and salt. Set aside.
In another medium bowl, combine the sugar, pumpkin puree, melted butter, eggs, and vanilla extract. Mix until well-combined.
Add the wet ingredients to the dry and stir until everything is combined. Fill the lined muffin tins ~2/3 of the way.
Combine all of the streusel ingredients in a small bowl. Use a fork or your fingertips to mix all of the ingredients together until a crumbly streusel topping forms.
Top each of the muffins with ~1 tbs of the streusel topping.
Bake 15-20 minutes, or until a toothpick, when inserted into the center of a muffin, comes out clean.
Allow the muffins to cool in the pan for 5-10 minutes before removing them to a wire rack to cool completely.
Combine all of the ingredients for the glaze in a small bowl. Drizzle the glaze over the top of the cooled muffins.