Preheat an oven to 350°F. Grease a 9-inch springform pan or a 9-inch cake pan with cooking spray. Set aside.
To make the streusel, in a bowl, combine the flour, brown sugar, cinnamon and salt. Add in the butter, using 2 table knives or your hands, and cut into the dry ingredients until the mixture looks like coarse crumbs. Set aside.
To make the cake batter, in a medium bowl, whisk together the flour, baking powder, baking soda, cinnamon, ginger, nutmeg, allspice and salt. In the bowl of a stand mixer, beat together the butter and brown sugar on medium-high speed until well combined. Beat in the eggs, one at a time, scraping down the sides of the bowl with a rubber spatula. Add in the vanilla extract. Add the pumpkin puree and Greek yogurt and mix until just combined. Slowly add in the flour mixture. The batter will be thick.
Spread half of the batter in the prepared pan. Sprinkle half of the streusel over the batter. Spread the remaining batter over the streusel and top with the remaining streusel. Bake until a toothpick inserted into the center of the cake comes out clean, about 45 minutes. Transfer the pan to a wire cooling rack and let cool for about 15 minutes. Remove the sides from the pan and slide the cake onto the rack.
Make the glaze while the cake is cooling. In a small bowl, whisk together powdered sugar, cinnamon, milk and vanilla. Drizzle over the top of the cake. Cut into wedges and serve.