In a large bowl, whisk together all-purpose flour, ground ginger, ground cinnamon, ground cloves, salt, and baking soda.

In a separate mixing bowl, blend softened unsalted butter, packed dark brown sugar, and molasses until smooth and creamy.

Gradually incorporate dry ingredients into wet mixture, alternating with milk.

Once combined, divide the dough into two portions, wrap in plastic wrap, and chill in the refrigerator for at least two hours or up to overnight.

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

On a lightly floured surface, roll one half of the chilled dough to approximately 1/4 inch thickness.

Use gingerbread man cookie cutters to cut out shapes and transfer them to the prepared baking sheets, spacing them slightly apart.

Repeat with the remaining dough portion.

Bake the cookies for 8 to 10 minutes, or until the edges just begin to brown.

Remove from the oven and let cool on the baking sheet for 5 minutes before transferring to a wire rack to cool completely.

To prepare the icing, mix sifted powdered sugar with 2-3 tablespoons of milk or water and vanilla extract until thick yet pipeable.

Fill a piping bag fitted with a small round tip with the icing and decorate each cooled gingerbread man cookie.

Allow the icing to set for about 30 minutes before serving or packaging.