Preheat your oven to 400°F and line a large 6-muffin tin with jumbo liners (or a standard 12-muffin tin if you prefer smaller muffins).
In a large mixing bowl, whisk together the sugars, oil, eggs, pumpkin puree, and vanilla until smooth.
In a separate bowl, combine the flour, baking soda, baking powder, salt, and spices. Slowly mix the dry ingredients into the wet ingredients until just combined — don’t overmix!
Make the cream cheese filling: Beat together the softened cream cheese, sugar, flour and vanilla until smooth and creamy. Then add milk and beat until smooth.
Assemble the muffins: Fill each muffin liner about 3/4 full (3/4 way to the edge of the muffin pan) with pumpkin batter. Put the cream cheese filling in a piping bag or zip lock bag, and insert tip of bag slightly into the top of the batter, raising as you squeeze the cram cheese filling into the muffin.
See video below
Optional: Sprinkle a touch of cinnamon sugar, some crushed pumpkin seeds, or crumble topping over each muffin for extra sweetness.
Bake at 400 F for the first 5 -10 min and then reduce heat to 375 for the remaining bake time. Bake for 22–25 minutes for regular sizes muffins and 45 min for Jumbo muffins, or until a toothpick inserted near the edge comes out clean (the center may still be soft from the cream cheese).
Allow the muffins to cool in the pan for about 10 minutes before transferring them to a wire rack.