Preheat the oven to 425℉. Line a 12-cavity muffin pan with paper liners. Set aside for later.
In a medium mixing bowl, add the dry cinnamon muffin mix, chopped apples, milk, melted butter, and ground cloves. Stir until thoroughly combined.
Scoop the batter evenly into the prepared muffin cups filling each one about 3/4 of the way full with batter. Sprinkle the reserved streusel topping on top of each muffin.
Bake for 20-25 minutes or until the tops are golden brown, spring back when lightly touched.
Stir together the powdered sugar, milk, and vanilla extract in a small bowl using a whisk or a fork. Immediately drizzle the vanilla glaze over top of each slightly warm muffin.
Serve the muffins warm. Enjoy!