Simple Pumpkin Muffins with Vanilla Glaze

For the cinnamon sugar topping:

• 2 tablespoons granulated sugar
• 1 teaspoon cinnamon

For the pumpkin muffins:

• 1/2 cup granulated sugar
• 1/2 cup light brown sugar, packed
• 1 teaspoon orange zest (usually the zest of one large orange)
• 3 cups all-purpose flour (not packed)
• 1 tablespoon baking powder
• 1/4 teaspoon baking soda
• 1/4 teaspoon salt
• 2 teaspoons pumpkin pie spice
• 3/4 cup WHOLE milk (whole milk or full-fat will yield the best results)
• 3/4 cup pumpkin purée (not pumpkin pie filling)
• 1/4 cup orange juice (fresh squeezed or store-bought will work)
• 2 large eggs, at room temperature
• 1 teaspoon vanilla extract
• 1 stick (4 ounces) unsalted butter, melted and slightly cooled

For the glaze:

• 1 cup confectioners' sugar
• 2-3 tablespoons heavy cream or whole milk
• 1/4 teaspoon salt
• 1/4 teaspoon vanilla extract