In a mixing bowl, combine the cream cheese, vanilla extract, and powdered sugar. Mix until smooth and set aside.

Preheat your oven to 350?F (175?C). Spray a 9? round springform pan with nonstick baking spray. Place the pan on a cookie sheet to catch any potential leaks.

In a large mixing bowl, cream together the butter and sugar using an electric mixer on high speed for 3 minutes until light and fluffy.

Add the eggs, pumpkin puree, milk, and vanilla extract to the butter mixture, and mix until well combined.

In a separate bowl, whisk together the flour, baking powder, baking soda, salt, cinnamon, cloves, and nutmeg. Gradually add the dry ingredients to the wet ingredients, mixing until just incorporated.

In another bowl, combine the flour, cinnamon, brown sugar, and chopped pecans. Add the room temperature butter and use a fork to mix until crumbly.

Pour half of the cake batter into the prepared springform pan. Spread the cream cheese mixture evenly on top.

Sprinkle half of the streusel topping over the cream cheese layer.

Pour the remaining cake batter over the streusel, then sprinkle the rest of the streusel topping on top.

Bake in the preheated oven for 55-70 minutes, or until a toothpick inserted into the center comes out clean.

Allow the cake to cool completely in the pan.

While the cake is cooling, mix together the powdered sugar and milk until smooth. Once the cake has cooled, drizzle the glaze on top.

Carefully remove the cake from the springform pan, slice, and enjoy!