Preheat oven to 425°F. Grease a muffin pan or line with muffin liners.
Whisk together flour, baking soda, baking powder, cinnamon, ginger, nutmeg, and salt in a large bowl.
In a medium bowl, whisk together eggs, granulated sugar, brown sugar, vegetable oil, pumpkin purée, and milk until combined.
Pour the wet ingredients into the dry ingredients and mix gently just until combined.
Divide the batter evenly among the muffin cups, filling each about 3/4 full.
Bake for 5 minutes at 425°F, then reduce the temperature to 350°F. Bake for another 16 minutes or until a toothpick comes out clean.
Allow to cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.