Preheat your oven to 350°F (175°C). Line a 12-cup muffin tin with paper liners.

In a large bowl, whisk together flour, baking soda, baking powder, cinnamon, nutmeg, and salt.

In a separate bowl, combine pumpkin puree, granulated sugar, brown sugar, eggs, vegetable oil, vanilla extract, and milk. Mix until smooth and well-combined.

Fold the wet ingredients into the dry ingredients, mixing just until combined. Be careful not to overmix to avoid dense muffins.

Scoop the batter into the muffin tin, filling each cup about ⅔ full.

Bake for 20-25 minutes, or until a toothpick inserted into the center of a muffin comes out clean.

Let the muffins cool in the tin for 5 minutes, then transfer to a wire rack to cool completely.