Preheat oven to 375. Line a 12-cup muffin tin with paper liners or coat with nonstick spray. Set aside.
To make the crumb topping, combine sugars, cinnamon and salt in a medium bowl. Whisk in melted butter and add flour. Stir using a rubber spatula just until moist. The mixture will not look very crumbly yet. Spread out mixture on parchment paper to dry until crumbly ready to use.
To make the muffins, in a large bowl, combine flour, sugar, baking powder, cinnamon, baking soda and salt.
In a medium bowl, whisk together milk, canola oil, vanilla and egg. Pour mixture over the dry ingredients and stir using a rubber spatula until just incorporate, being careful not to overmix.
Scoop the batter evenly into the muffin tray about 2/3 of the way full. Top with reserved crumb topping, using your fingers to gently press the crumbs into the batter to help it stay in place while baking. It will be a lot of crumb topping on each muffin. That's what you want!
Bake muffins in preheated oven for 10 minutes, then reduce the heat to 350 degrees and bake another 5-10 minutes
While the muffins are baking, make the glaze. Combine powdered sugar and milk in a medium bowl and whisk until smooth. If the glaze is too thin, add more confectioners’ sugar as needed.
When the muffins are done, cool for 10 minutes and drizzle the glaze on each muffin using a small spoon.
Allow glaze to set before serving.