In a medium bowl, whisk together flour, baking soda, salt, cinnamon, nutmeg, cloves, and ginger. Set aside.
In a large bowl, combine sugar, pumpkin puree, eggs, vegetable oil, and milk. Whisk until well-combined.
Pour flour mixture into the wet ingredients. Switch to a wooden spoon and stir until just combined.
Transfer batter to prepared baking dish. Remove streusel from the freezer and sprinkle it over the batter. If the streusel pieces are too large, gently break them up. If they're too small, smash them together in your hand to form larger crumbs.
Bake for about 60 to 70 minutes, until a toothpick inserted into the center of the bread comes out clean or with just a few crumbs.
Allow to cool in the baking pan until cool enough to handle and then transfer to a cooling rack.