1. Preheat oven to 350°F. Grease or line a 12-cup muffin tin.
2. In a large bowl, whisk together vegetable oil, granulated sugar, and brown sugar until smooth.
3. Add pumpkin puree, vanilla, eggs, and milk. Whisk until just combined.
4. Add flour, baking soda, 1 1/2 teaspoons cinnamon, cloves, and salt. Stir until just combined—do not overmix.
5. Divide batter evenly among muffin cups, filling each about 3/4 full.
6. In a small bowl, mix 1/2 cup sugar, 1 teaspoon cinnamon, and melted butter until sandy. Sprinkle mixture evenly over muffin batter.
7. Bake muffins for 20-24 minutes, or until tops spring back when gently pressed. Cool completely on a wire rack.
8. For the filling, beat heavy cream in a bowl until stiff peaks form. In another bowl, beat cream cheese until smooth.
9. Fold whipped cream into cream cheese, then beat together until smooth. Add maple syrup and mix until combined.
10. Once muffins are cool, use a small paring knife to cut a cone-shaped piece from the center of each muffin.
11. Fill a piping bag or a zip-top bag with the filling. Pipe filling generously into the center of each muffin, letting it mound slightly at the top.
12. Serve immediately or refrigerate until ready to eat.