Preheat your oven to 350°F (175°C) and line two large baking sheets with parchment paper.

In a medium bowl, combine flour, baking soda, baking powder, cinnamon, ginger, nutmeg, cloves, and salt. Whisk together and set aside.

Cream butter on medium speed until light and fluffy, about 2-3 minutes. Gradually add sugars and mix until creamy.

Mix in pumpkin puree, egg, and vanilla extract until just combined.

Gradually add dry mixture to the wet ingredients on low speed until just combined.

Chill the dough in the refrigerator for about 30 minutes if desired.

Drop rounded tablespoons of dough onto the prepared baking sheets, spacing them about 2 inches apart.

Bake for 10-14 minutes until edges are golden brown and centers are set. Rotate sheets halfway through.

Allow to cool on sheets for 5 minutes, then transfer to a wire rack to cool completely.

In a mixing bowl, beat together cream cheese and butter until smooth. Gradually add powdered sugar and mix until desired thickness.

Mix in ground cinnamon and vanilla extract. Add milk if the frosting is too thick.

Frost each cooled cookie generously with the cinnamon frosting.

Store any leftovers in an airtight container in the refrigerator for up to 3-4 days.