In the bowl of a stand mixer, cream the butter and brown sugar. Add the molasses, egg, and vanilla
In a medium bowl, whisk together the flour, cinnamon, ginger, allspice, baking soda, salt, and cloves.
Slowly add the dry ingredients a little at a time to the wet ingredients. Add in the milk.
Form the dough into a ball, split the ball in half, and flatten each half into a 1-inch thick rectangle. Wrap in plastic and chill for at least 2 hours.
Once ready, preheat the oven to 350°F and line two large baking sheets with parchment paper.
Roll out the dough on a lightly floured surface until about 1/4-inch thick. Use cookie cutters to cut out gingerbread men and other shapes if desired.
Transfer the cut-outs to the prepared baking sheets. Re-roll the dough scraps as necessary.
Bake one pan at a time, for about 7 to 9 minutes. Baking time differs depending on the oven, the size of cookie cutters you use and also how soft or crunchy you like your cookies.
Once baked, let cool for 5 minutes before transferring to a cooling rack.
For icing: once cookies are completely cooled, mix all icing ingredients together. Use a piping bag to decorate as desired.