Preheat oven to 350°F (175°C) and line or grease a 12-cup muffin tin.
Mix flour, baking powder, baking soda, salt, and spices in a bowl.
In another bowl, whisk squash, sugars, eggs, oil, vanilla, and milk.
Stir dry into wet until just combined.
Fill muffin cups ¾ full.
Bake for 18–22 minutes or until a toothpick comes out clean.
Cool for 5 minutes, then transfer to wire rack.