Preheat oven to 375 degrees. Spray a baking sheet with cooking spray or line with parchment paper, set aside.
In a bowl combine dry ingredients; flour, baking soda, cinnamon, cloves, nut meg, ginger & salt. Give it a quick whisk or stir and set bowl aside.
In a separate bowl beat butter with an electric mixer on medium speed for about 1 minute. Add in sugar and continue to cream together for about 2 to 3 minutes, until light and fluffy. Add in molasses and egg, continue to mix until thoroughly combined. Slowly add in dry ingredients, mixing thoroughly until combined, cookie dough will be thick.
Scoop cookie dough and place on cookie sheet, spacing about 2 inches apart. Bake for 9-10 minutes. After a couple of minutes transfer to a cooling rack to cool completely.
Make the icing: in a small bowl combine powdered sugar, vanilla extract and milk and whisk together with a fork until icing thickens and all the sugar is absorbed into the milk. Add a little extract milk to think it out if you like or add a little extra sugar if you want it thicker.
Use a knife to spread icing over cookies or drizzle over cookie with a spoon. Add sprinkles if desired.