Thaw the pie crust as instructed. Preheat the oven to 425 degrees F and prepare a baking sheet with a sheet of parchment paper.
In a medium mixing bowl, add the pumpkin, brown sugar, cinnamon, nutmeg, ginger, allspice, salt, and cloves. Stir to combine.
On a sheet of parchment paper, roll out the pie crust. Cut into even rectangles with a knife, depending on which size of pop tart you want.
Place one half of each pop tart pastry onto the baking sheet, leaving room in between each one, like you would with cookies.
Place a row of pumpkin mixture in the very center of the pop tart and down the middle. Do not get the mixture close to the sides or too high or the pop tart will be overfilled and hard to close.
Cover each pop tart with the other half of the pastry. Push down on the edges of each tart with your fingers, so the pastry squishes together. Then crimp the edges with a fork. Finally, poke 4-6 holes in the top of each pastry with a toothpick to let the steam escape when cooking.
Place the tarts in the oven to bake for 12 minutes. When done, remove from oven and cool on a wire rack.
Sift the powdered sugar into a large bowl. Add the vanilla and whole milk and stir until combined.
Spoon over the top of the pop tarts to glaze them. Add sprinkles while glaze is still wet.