Preheat & Prep. To start, preheat the oven to 350 degrees F. Line a 12-cup metal muffin pan with parchment paper liners or grease well to avoid sticking.
Combine Dry Ingredients. In a medium bowl, combine gluten-free flour, baking powder, baking soda, salt, cinnamon, ginger, nutmeg, cardamom, and cloves. Whisk until well combined and no large clumps of flour remain.
Combine Wet Ingredients. In a large bowl or a stand mixer, combine the wet ingredients. Mix pumpkin puree, brown sugar, eggs, oil, milk, and vanilla. Whisk or mix until smooth.
Add Dry Ingredients to the Wet Ingredients and stir until just combined. Try not to over-mix. (Just stop mixing when there aren't any large clumps of dry ingredients remaining.)
Scoop The Cupcake Batter into your prepared muffin cups, filling each cup only 2/3 full. (If you end up filling them 3/4 full, you won't have as many cupcakes and may need to bake them longer.) Keep in mind that you'll likely have 14-16 cupcakes total, so you'll need to bake the last few in a second batch, or you can use a second muffin pan, if you have one.)
Bake. Then, bake the cupcakes at 350 degrees F. for 17-20 minutes, or until a toothpick inserted in the center comes out clean with just a few moist crumbs and the tops of the cupcakes spring back when gently pressed with your finger. Let the cupcakes cool 2-3 minutes in the muffin tin before transferring them to a wire rack to finish cooling completely. Bake any remaining cupcakes, as needed. Allow the cupcakes to cool completely before frosting them.