Preheat the oven to 350ºF. Line a muffin pan with paper liners or spray with cooking spray. Set aside.
In a small saucepan, melt the butter over medium-low heat and continue to cook, swirling occasionally, until butter turns golden brown and has a nutty aroma. Pour butter into a small bowl and set aside to cool to room temperature.
In a medium bowl, whisk together flour, spices, baking soda, and salt. Set aside.
In a large bowl, combine the pumpkin, sugar, browned butter, eggs, and vanilla. Stir until smooth.
Gradually add the dry ingredients to the pumpkin mixture, and stir until just combined.
Divide the batter among lined muffin cups, filling each cup 3/4 full.
To make the streusel, in a small bowl combine the flour, brown sugar, cinnamon, and butter. Cut the butter into the mixture using your fingers until mixture is coarse and crumbly. Stir in the pecans and mix until combined. Sprinkle streusel topping evenly over each unbaked muffin.
Bake muffins for 20 minutes, or until a toothpick stuck in the middle comes out with just a few crumbs. Let cool to room temperature.
While the muffins are cooling, make the brown butter glaze. In a small saucepan, melt the butter over medium-low heat and continue to cook, swirling occasionally, until butter turns golden brown and has a nutty aroma. Pour butter into a small bowl. In a medium bowl, whisk together powdered sugar, browned butter, vanilla, and 3 tablespoons of milk. If the glaze is too thick, add an additional tablespoon of milk.
Generously drizzle cooled muffins with glaze.
Note-you will have extra brown butter glaze. You can keep it in the fridge for up to 1 week. It is good on just about everything:)