Preheat oven to 350° and spray two muffin trays with non-stick cooking spray.

In a large bowl, add flour, sugar, pumpkin pie spice, baking soda and salt. Mix thoroughly.

In another large bowl, mix together the pumpkin, eggs, oil, milk and vanilla extract. Using a handheld or stand mixer, beat until blended. Slowly add in the flour/sugar mixture and blend until just combined.

Spoon batter into the prepared muffin trays, filling 3/4 full.

Bake 25-30 minutes, or until a toothpick inserted comes out clean. Cool in pan for 10 minutes, then remove to a wire rack. Store muffins in a covered container or resealable bag.