Preheat oven to 325°F (165°C). Grease a 10-12 cup Bundt pan with non-stick baking spray or butter and flour, tapping out the excess.
Whisk together flour, baking soda, cinnamon, ginger, nutmeg, cloves, and salt in a medium bowl.
Beat granulated sugar, light brown sugar, and vegetable oil in a large bowl until smooth.
Add eggs one at a time, beating well after each addition, then mix in pumpkin puree and vanilla extract until fully incorporated.
Gradually add dry flour mixture to wet ingredients, mixing only until just combined. Do not overmix.
Pour batter into prepared Bundt pan and smooth top with a spatula. Bake for 60-70 minutes or until a wooden skewer inserted comes out clean and internal temperature reaches 200°F–210°F.
Allow cake to cool in pan for 15 minutes before inverting onto a wire cooling rack to cool completely.
Whisk together cream cheese, powdered sugar, maple syrup, and milk for the glaze. Drizzle over cooled cake before slicing and serving.