Preheat oven to 350 degrees.
In a stove top pan, melt the butter.
Using a stand mixer with the paddle attachment or a hand mixer, add the butter, granulated sugar, dark brown sugar and beat until combined.
Pour in pure vanilla extract, add eggs, one at a time and beat after each addition.
Add milk, orange juice and pumpkin and beat until combined.
In a large mixing bowl, add flour, baking soda, baking powder, cinnamon, nutmeg and salt and mix together.
Add dry ingredients to the mixing bowl and beat until combined.
Prepare muffin pans with liners.
Pour pumpkin batter into muffin cups filling about 3/4 way full.
Using a tablespoon, spoon on cinnamon sugar topping.
Bake at 350 degrees for 18-22 minutes or until a toothpick inserted in the center comes out clean.
Serve and enjoy!