Preheat oven to 350℉. Liberally grease a 8-or-9" light metal loaf pan with cooking spray, or line with parchment paper and grease. Set aside. (See Note).
For the bread: In a large bowl, combine the softened butter with the brown sugar using a handheld electric mixer, creaming until smooth, about 1 minute. Add in the pumpkin, followed by the eggs, mixing well after each addition. Next, add in the spices, baking powder, baking soda, salt, and flour and mix on low speed until just barely combined. Do not over-mix as this leads to tough bread; you want it just barely combined.
Spread the bread batter into the prepared pan in an even layer; set aside. Meanwhile, make your streusel: in a medium bowl, combine the melted butter, flour, brown sugar and pumpkin pie spice and stir until the mixture resembles wet sand and is fully combined. Drop heaping handfuls of the streusel evenly over the top of the bread.
Bake for 55-60 minutes or until a toothpick inserted near the center of the bread comes out clean or with moist, but not wet, crumbs. Cool completely on a wire rack.
Lastly, prepare your glaze: in a medium bowl, whisk together the confectioners' sugar, maple extract, maple syrup and milk until a soft glaze comes together. Drizzle the glaze evenly over the bread. Let set before cutting into slices to serve.