Preheat oven to 350F. Lightly grease muffin pan or use muffin liners.
In a large bowl, whisk together the dry ingredients.
In a separate bowl, mix together the pumpkin, milk, sugar, oil, lemon juice and vanilla extract. Gently pour the wet ingredients into the dry ingredients, mixing until well combined. Careful not to over stir the batter. Scoop batter into prepared muffin tin.
Bake in hot oven for 22-25 minutes or until the muffin tops are golden brown. For the last 5 minutes of baking, option to brush the maple syrup on top of the muffins to give them a little extra caramelized sweetness. To test readiness, insert a toothpick into the center of the muffin, they should be ready when the toothpick comes out clean (a few crumbs are fine).
Remove from oven and let muffin sit in tray for 5 minutes before removing and placing on cooling rack.
NOTES For a nut-free muffin, replace the almond flour with oat or gluten-free all-purpose flour mix.