Preheat the oven to 425°F and line a 12-cup muffin tin with paper liners.
To make the crumb topping, first stir the flour, brown sugar, and cinnamon together in a medium bowl. Cut the butter into four or five slices, add them to the bowl, then use a pastry cutter or fork to cut the butter into the dry ingredients, continuing until the mixture resembles coarse crumbs. Place the bowl in the fridge to chill while you prepare the other ingredients.
To make the cinnamon sugar layer, stir the brown sugar and cinnamon together in a small bowl. Set it aside.
To make the muffin batter, first combine the dry ingredients. Whisk together the flour, sugar, brown sugar, baking powder, baking soda, cinnamon, and salt.
Stir the milk, oil, vanilla, and apple cider vinegar together in a small container such as a liquid measuring cup.
Add the milk mixture to the bowl containing the dry ingredients. Stir everything together just until the ingredients are fully combined. The batter will be very thick.
Distribute about half of the batter among the cups of the muffin tin, then sprinkle the brown sugar cinnamon mixture over the batter, using about 1 ½ teaspoons per muffin.
Divide the remaining batter among the muffin cups, spreading it over the brown sugar cinnamon layer. Sprinkle the crumb topping over the top layer of batter, pressing it in gently.
Bake the muffins for 8 minutes, then turn the oven temperature down to 350°F and continue baking the muffins for 12 to 14 minutes more, until the tops are domed, the topping is lightly browned, and a toothpick inserted into the center of a muffin comes out clean.
Place the muffin tin on a cooling rack. Let the muffins cool completely before removing them from the tin. Serve.