In a large bowl, whisk flour, cinnamon, ginger, baking soda, cloves and salt to combine. In a separate large bowl using electric hand mixer or in bowl of a stand mixer with paddle attachment, beat butter and brown sugar on high speed 2 minutes until smooth and light. On low speed, stir in egg, then molasses, then milk. Mixture will be slightly lumpy; this is OK.

Slowly stir dry ingredients into wet ingredients until just combined. Cover bowl and refrigerate dough 1 hour up to overnight.

Heat oven to 350 degrees F. Line two baking sheets with parchment paper. Shape dough into 1-inch balls; roll each ball in granulated sugar, then in powdered sugar, until well-coated. Transfer to prepared baking sheet, spacing dough at least 2 inches apart.

Bake 9 to 11 minutes until edges of cookies are just set. Cool cookies 5 minutes on baking sheets, then transfer to cooling rack to cool completely.