In stand mixer, mix the brown sugar and eggs until combines.
Mix in the pumpkin, oil, milk, and vanilla.
Slowly add in the dry ingredients (flour, baking soda, baking powder, salt, and spices) and mix until just combined. Do not over mix.
Spoon the batter into prepared cupcake tins.
Bake at 350• for 16-18 minutes.
Cool on wire rack.