Preheat the oven to 350 degrees F. Line two muffin tins with cupcake liners. Set them aside.
In a medium-sized bowl, whisk together the flour, baking soda, baking powder, cinnamon, nutmeg, cloves, and salt. Set aside.
In the bowl of a stand mixer, beat together the pumpkin puree, sugars, vegetable oil, and milk. Add the eggs, one at a time, until well combined.
Little by little, add the dry ingredients to the wet, mixing until everything is just combined. Fill the cupcake liners about 3/4 of the way full. Bake for 18-20 minutes or until a toothpick, when inserted into the center of the cupcakes, comes out clean. Allow them to cool for a few minutes in the tin, then remove them to a wire rack to finish cooling completely.
Add the softened butter to the bowl of a stand mixer fitted with the paddle attachment. Beat it on medium speed until the butter is soft (~1 minute).
Add another 2 cups of the powdered sugar, along with the maple syrup. Beat on low speed, and add the additional 1-2 cups of sugar as needed to thicken the frosting. Use the milk to thin it out, if needed.
Frost the cupcakes and dust with cinnamon.