Preheat oven to 350 degrees. Grease two 8 x 5 inch loaf pans with cooking spray, set aside.
In a medium bowl whisk together the flour, baking soda, baking powder, salt, cinnamon, nutmeg and cloves; set aside.
In a large bowl add the oil, sugar, pumpkin, and eggs, and whisk or use a handheld mixer to combine. Stir in the dry ingredients.
Pour the mixture into the prepared pans using a rubber spatula to smooth the tops. Bake for 45-55 minutes, until a toothpick inserted in the center comes out clean. Cool on a wire rack for at least 10 minutes before removing from pan.
To make the glaze, in a small bowl whisk together the powdered sugar, milk and vanilla. Pour over the cooled loaves.