Preheat your oven to 350°F. Lightly grease a mini muffin pan or coat it with nonstick spray.
In a large bowl, mix together the flour, cinnamon, nutmeg, allspice, cloves, baking powder, and salt.
In a separate bowl or a large glass measuring cup, whisk together the pumpkin puree, milk, brown sugar, canola oil, egg, and vanilla extract.
Pour the wet mixture over the dry ingredients and gently stir with a rubber spatula until just combined. Be careful not to overmix; the batter should be moist.
Use a small cookie scoop to evenly distribute the batter into the prepared muffin tray.
Place the tray in the oven and bake for 10-12 minutes, or until a tester inserted into the center of a muffin comes out clean.
Once baked, allow the muffins to cool in the tray for about 2 minutes. Then, dip each muffin into the melted butter and immediately roll it in the cinnamon sugar topping.
Place the coated muffins on a wire rack to cool completely.