Mix flour, baking powder, salt, sugar, cinnamon, nutmeg, and cloves in a medium-sized bowl. Set aside.
In a smaller bowl, combine pumpkin, milk, melted butter, and vanilla together to combine. Pour wet ingredients into dry ingredients and mix to create a thick batter. Pour into a small 8-inch casserole dish with high sides.
To make the topping, stir sugar, brown sugar, and pecans together in a separate bowl. Spread over the top of the batter evenly.
Pour hot water over the entire thing – without stirring – and place on a baking sheet in case it bubbles over. Bake for 40 minutes or once the middle is set.
Cool 5-10 minutes before serving. Serve with more pecans and vanilla ice cream.