Preheat the oven to 350 degrees and prep a cupcake pan with liners. Set aside. In the bowl of a stand mixer, whisk together the flour, sugars, cinnamon, nutmeg, cloves, baking powder baking soda, and salt.
Add in the oil, eggs, vanilla, pumpkin puree, and milk. Mix thoroughly - stopping the mixer, scraping the side and mix again. Divide the batter amongst the cupcake liners, filling each cavity about 3/4 of the way full.
Bake in the preheated oven for 16-18 minutes or until a toothpick inserted in the center of a cupcake comes out clean, or middle springs back when touched gently in the center. Pull pan out, scoop cupcakes out of hot pan and on to a cooling rack.
Allow to cool completely before decorating. To make the frosting - in the bowl of a stand mixer, combine the softened butter, salt, vanilla and about half of the powdered sugar. Mix on low speed for about a minute and then bump up the speed to medium for another minute.
Add in the remaining powdered sugar and 2 tablespoons worth of the milk. Mix on low for a minute and then on medium for an additional 2 minutes. The frosting should be light and fluffy.
Transfer the frosting to a piping bag fitted with a large star tip, or freezer bag with corner snipped off to pipe out. Pipe a large dollop of frosting on each cupcake when they are cooled. Enjoy!