Mix flour, brown sugar, cinnamon, salt, and melted butter for streusel until chunky; refrigerate
Preheat oven to 375°F (190°C) and line a muffin tin
Whisk flour, granulated sugar, brown sugar, baking powder, baking soda, salt, and cinnamon
Whisk melted butter, eggs, sour cream, milk, and vanilla until smooth
Gently fold wet ingredients into dry ingredients until just combined
Divide batter evenly into muffin cups, filling about ¾ full
Sprinkle chilled streusel generously over each muffin and lightly press it in
Bake until tops are golden and a toothpick comes out clean or with moist crumbs
Cool briefly, then serve warm or at room temperature