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

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

Gradually incorporate the dry ingredients into the wet mixture, alternating with milk until the dough is even and consistent.

Divide the dough into two portions, wrap each 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.

Cut out shapes using gingerbread man cookie cutters and transfer to the prepared baking sheets.

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

Let cool on the baking sheet for 5 minutes, then transfer to a wire rack to cool completely.

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

Fill a piping bag and decorate each cooled cookie as desired.

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