Preheat the oven to 375 degrees Fahrenheit. Line two muffin pans with paper liners.
In a large bowl, stir together the sugars and oil until combined.
Add in the eggs, milk, and vanilla extract, and stir them into the sugar mixture.
Stir in the pumpkin puree.
In another bowl, whisk together the flour, cinnamon, pumpkin pie spice, baking soda, baking powder, and salt.
Add the dry ingredients to the wet ingredients and stir them together slowly until combined.
Add a heaping 1 Tablespoon of the muffin batter to each of the muffin cups.
Add a heaping 1/2 Tablespoon of the cream cheese filling on top of the muffin batter.
Add more batter to fill the muffin spots each about 3/4 full, almost to the top, but not quite.
Sprinkle streusel crumb evenly over the top of each muffin, pressing in lightly to help it stick.
Bake the muffins for 18-22 minutes until the crumb is golden and the muffins are cooked through. (Test with a toothpick).
Let the muffins cool for 10 minutes in the pan, then serve, or transfer them to a cooling rack to cool completely.