Make the crumb topping: Combine sugars, cinnamon, and salt in a bowl. Whisk in melted butter. Add flour and stir together. Spread out mixture on parchment paper to dry until ready to use.
In a bowl, combine flour, sugar, baking powder, cinnamon, baking soda, and salt.
In another bowl, whisk together milk, canola oil, and egg. Pour mixture over dry ingredients and stir until combined.
Scoop the batter evenly into the muffin tins.
Sprinkle with crumb topping, using your fingertips to gently press the crumbs into the batter.
Bake for about 14 minutes. (It’s ok if they are a little gooey, they will cool perfect and won’t be dry).
To make the glaze, combine powdered sugar, vanilla, and milk. Whisk until smooth.
When the muffins are done, cool for 15 minutes and drizzle the glaze on top!