Heat oven to 350°F. Grease a 9×13-inch pan and line with a parchment sling.
Stir flour, oats, brown sugar, cinnamon, and salt for the crumble. Cut in cold butter until sandy, then fold in pecans. Chill.
Whisk cake flour, pumpkin pie spice, cinnamon, baking powder, baking soda, and salt in a large bowl.
In another bowl, whisk pumpkin, both sugars, oil, milk, and vanilla until smooth and glossy.
Add wet ingredients to dry and stir just until combined. Do not overmix.
Spread batter into the pan. Sprinkle crumble evenly over the top and gently press to adhere.
Bake 40–48 minutes, until a tester comes out with a few moist crumbs.
Cool the cake on a rack for 20 minutes while you make the glaze.
Whisk powdered sugar, maple syrup, milk, vanilla, and a pinch of salt until pourable.
Drizzle glaze over the warm cake. Rest 10 minutes, slice, and serve.