Preheat oven to 375°F. Line a 12-cup muffin pan with liners or lightly grease.
Beat cream cheese, 1/4 cup sugar, 1/2 tsp vanilla, and 1 tbsp milk until smooth; set aside.
Whisk flour, 3/4 cup sugar, brown sugar, pumpkin pie spice, cinnamon, baking powder, baking soda, and salt.
Whisk pumpkin, eggs, oil, 2 tsp vanilla, and 1/4 cup milk in a separate bowl.
Fold wet ingredients into dry until just combined; do not overmix.
Spoon batter into cups, filling about two-thirds full. Dollop cream cheese mixture on top and gently swirl.
Bake 18–20 minutes, until muffins spring back and the swirl looks set at the edges.
Cool 5 minutes in the pan, then transfer to a rack to finish cooling.