Preheat oven to 350°F (175°C). Grease and flour a 9x5-inch loaf pan or line it with parchment paper.
In a large bowl, whisk together flour, sugar, baking soda, baking powder, salt, cinnamon, nutmeg, ginger, and cloves.
In a separate bowl, whisk pumpkin puree, oil, eggs, milk, and vanilla until smooth and well combined.
Pour wet ingredients into dry ingredients and gently mix with a spatula until just combined. A few small lumps are fine. Do not overmix.
Pour batter into prepared pan and smooth the top.
Bake for 50–60 minutes, or until a toothpick inserted into the center comes out clean.
Let cool in the pan for 10–15 minutes, then transfer to a wire rack to cool completely before slicing.