Preheat oven to 350°F (175°C). Grease a 9x5-inch loaf pan.

Make the streusel topping: Mix melted butter, flour, brown sugar, granulated sugar, and pumpkin pie spice until crumbly.

Make the pumpkin bread: Whisk pumpkin puree, sugars, oil, eggs, vanilla, and milk.

Stir in flour, baking soda, cinnamon, pumpkin pie spice, and salt until combined.

Pour batter into the loaf pan and sprinkle streusel on top.

Bake for 60 minutes or until a toothpick inserted comes out clean.

Cool in pan for 10 minutes, then transfer to a wire rack.

Make the glaze: Mix powdered sugar and maple syrup until smooth.

Drizzle glaze over cooled bread before serving.