Line 2 sheet pans with parchment paper. Set them aside.
In the bowl of a stand mixer fitted with the paddle attachment (or in a large bowl with a handheld mixer), cream together the butter, brown sugar, and molasses until the mixture becomes light and fluffy. This should take about 3 minutes. Be sure to scrape down the sides and bottom of the bowl using a rubber spatula.
Add the vanilla extract and milk mix just until combined.
All at once, add all the dry ingredients at once: flour, cinnamon, ginger, salt, baking soda, and cloves. Mix on low, just until the ingredients are combined. The dough may appear crumbly at first but will come together.
Using a 3-tablespoon cookie scoop, portion the dough and roll it into balls. Roll each ball first in granulated sugar until fully covered, followed by rolling in powdered sugar until fully covered. Place the coated balls on the prepared baking sheet, ensuring they are about 2 inches apart.
Using a flat surface like the bottom of a cup or a flat spatula, gently press down on the cookies.
Cover the baking sheets and place them in the fridge to chill for at least an hour.
Preheat your oven to 375°F (175°C).
Bake the cookies for 10-12 minutes.
Allow the cookies to cool for 10 minutes before serving.