Make the filling: Combine brown sugar, cinnamon, and cloves in a medium bowl. Stir in granulated sugar, flour, and salt. Using your hands or a pastry cutter, cut in butter until combined and mixture is crumbly; stir in nuts. Transfer to the refrigerator until ready to use.
Preheat oven to 350 degrees.
Spray a 10-inch Bundt pan (or other tube pan with a 3-quart capacity) with cooking spray; set aside.
Make the cake: Sift together flour, baking soda, baking powder, and salt into a bowl; set aside.
In the bowl of an electric mixer fitted with the paddle attachment, cream butter and granulated sugar until light and fluffy, about 4 minutes. Add eggs, one at a time, beating until well combined. Beat in vanilla. Add reserved flour mixture and sour cream in alternating batches, starting and ending with the flour; beat just until combined. Spoon half the batter into prepared pan. Make a well in the center, and crumble two-thirds of the streusel mixture into well. Spoon in remaining batter, smoothing top; sprinkle with remaining streusel. Bake until golden brown and a cake tester comes out clean, about 1 hour. Transfer to wire rack and let cool 45 minutes; invert cake onto a wire rack set over a rimmed baking sheet.⏱ 60 min
In a medium bowl, whisk together confectioners' sugar and milk until combined; set icing aside, cover with plastic wrap, until ready to use. Drizzle over inverted cake; serve.