Preheat oven to 350°F (175°C). Grease and line a 9×5-inch loaf pan with parchment paper.,Make the streusel: In a small bowl, mix flour, brown sugar, and cinnamon. Cut in cold butter until mixture resembles coarse crumbs. Chill until ready to use.,In a large bowl, whisk together flour, baking soda, baking powder, salt, cinnamon, nutmeg, and ginger.,In a separate bowl, whisk pumpkin puree, sugars, eggs, oil, milk, and vanilla until smooth.,Add wet ingredients to dry ingredients and stir until just combined—don’t overmix.,Pour batter into prepared loaf pan. Sprinkle chilled streusel evenly over the top.,Bake for 55–65 minutes or until a toothpick inserted in the center comes out clean.,Cool in the pan for 10–15 minutes, then transfer to a wire rack to cool completely.,Make the glaze: Whisk together powdered sugar, maple syrup, and milk until smooth. Drizzle over cooled bread.