Preheat your oven to 375°F. Lightly spray a muffin tin with cooking spray or line it with paper muffin liners. Then, set it aside.
In a large mixing bowl, whisk together the milk, brown sugar, granulated sugar, molasses, canola oil, eggs, and vanilla extract until the mixture is smooth and well combined.
In a separate bowl, combine the dry ingredients: flour, baking powder, baking soda, salt, cinnamon, ginger, nutmeg, and cloves. Whisk to evenly distribute the spices.
Gradually add the dry ingredients to the wet ingredients, stirring gently until just combined. Be careful not to overmix, as this can make the muffins dense.
Divide the batter evenly among the prepared muffin cups, filling each about 2/3 full (approximately 1/4 cup of batter per muffin).
Bake the muffins at 375°F for 15 minutes, then reduce the heat to 350°F and bake for an additional 5–7 minutes, or until a toothpick inserted into the center of a muffin comes out clean.
Allow the muffins to cool in the pan for a few minutes, then transfer them to a wire rack to cool completely. Enjoy as is or with lemon glaze, recipe below.