Preheat oven to 400 degrees F. Spray a muffin tin with cooking spray and set aside.
In a large mixing bowl, whisk together egg, oil, cinnamon, ginger, and cloves. Whisk in pumpkin and sugar until smooth. Add flour, baking powder, and salt. Stir just until dry ingredients are incorporated.
Using a spring-loaded disher or a 1/3 c. measuring cup, evenly divide the muffin dough into the muffin pan. Bake in preheated oven for 15-18 minutes, or until toothpick inserted into the largest muffin comes out mostly clean. Transfer from muffin tin to wire rack to cool immediately.
When muffins are cool, you are ready to prepare the glaze. In a small, deep bowl, whisk together powdered sugar, 1 1/2 tbsp. milk, and caramel sauce until very smooth. Glaze should be just thick but just thin enough to drizzle off a spoon. Add up to 1/2 tbsp. more of milk if needed.
Dunk the top of each muffin into the glaze, allowing the excess to drip off before placing muffins on parchment or wax paper. If desired, sprinkle a small amount of coarse salt over the glaze for a salted caramel flavor. Glaze will set in 10-15 minutes (but there’s no harm in eating them immediately except messy fingers).