In a medium bowl, whisk together flour, baking soda, baking powder, cinnamon, and salt. Set aside.
In the bowl of a stand mixer fitted with the paddle attachment, mix together sugar and oil for 1 minute.
Add eggs and mix until incorporated, about 1 minute.
Add flour mixture in two additions, mixing on low until just combined.
Scrape down bowl and stir in carrots.
If making mini muffins, transfer batter to a piping bag; otherwise, transfer to an airtight container and refrigerate overnight.
If making mini muffins, preheat oven to 350°F. For regular-sized muffins, preheat over to 425°F. Line muffin pans with papers.
Fill each paper, stopping about 1/4 of an inch from the top. Sprinkle a generous amount of streusel on top and press in lightly.
For mini muffins, bake for 18 minutes, or until a skewer inserted into the center comes out clean.
For regular muffins, place in the oven, immediately lower the heat to 325°F, and bake 30-35 minutes, or until a skewer inserted into the center comes out clean.
Transfer to a rack to cool completely.