For the crumb, in a medium bowl, combine both sugars, cinnamon and melted butter. Stir in the flour with a spatula. The mixture will be thick. Set aside.
For the muffins, preheat the oven to 425˚F (218˚C). Line a muffin pan with 9 cupcake liners. Set aside.
In a large bowl, whisk together flour, baking soda, baking powder, cinnamon and salt.
In a large mixing bowl with an electric mixer fitted with a paddle attachment, beat the butter until smooth and creamy, about 1 minute. Add both sugars and blood orange zest, and beat until fluffy, about 3 minutes. Scrape down the sides and bottom of the bowl if needed. Add eggs one at a time and beat to combine. Add vanilla extract and sour cream. Beat on medium-low speed for 3 minutes or until mixture is uniform in texture.
Pour the wet mixture into the flour mixture and slowly whisk to combine. Add blood orange juice and milk. Whisk gently to combine with little lumps remain.
Scoop the batter into the muffin liners, about ¾ filled. Top each muffin with a handful of crumb topping. Bake for 5 minutes. Reduce the oven temperature to 350˚F (177˚C) and continue to bake for 15 – 18 minutes. Test the muffins with a toothpick for doneness. The toothpick should come out clean. Remove the pans from oven and cool for 5 minutes. Carefully remove the muffins to a wire rack to cool.
For the glaze, in a medium bowl, add powdered sugar. Add the milk and 1½ tablespoons orange juice. Whisk until smooth. Add more juice if the frosting is too thick. Drizzle the glaze over the cooled muffins with a spoon. Let it set at room temperature, about 30 minutes.