Preheat the oven to 350°F.
Coat a 9″ round springform pan with non-stick cooking spray.
Make the streusel topping by combining the flour, butter, sugar, cinnamon and chopped pecans in a bowl. Mix with a fork until combined and clumps form. Set aside.
In a large bowl, beat together the butter, brown sugar and granulated sugar until light and fluffy.
Add the eggs and vanilla extract and beat until incorporated.
Add the cinnamon, ginger and nutmeg and the baking powder and mix to combine. Add half of the flour, mix, then the milk, then the remaining flour.
Scrape down the bowl and add the carrots and chopped pecans, stirring them in by hand.
Pour the batter into the prepared pan. Bake for 50 to 55 minutes or until a toothpick inserted into the center comes out clean.
Allow the cake to cool before topping with the glaze.
Prepare the glaze by combining the powdered sugar, vanilla extract and milk in a small bowl and stirring with a spoon until smooth.
Drizzle the glaze onto the cooled cake and let it cool to harden.
The cake can be made one day before. Keep it covered for maximum freshness and moistness.