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Gather all ingredients. Preheat the oven to 350 degrees F (175 degrees C). Grease two cookie sheets.
To make the cookies: Combine flour, cinnamon, baking powder, baking soda, nutmeg, cloves, and salt in a medium bowl.
Cream together sugar and butter in a mixing bowl until fluffy, 2 to 3 minutes. Add pumpkin, egg, and vanilla; beat until creamy. Mix in flour mixture until combined.
Drop tablespoonfuls of dough onto the prepared cookie sheets; flatten slightly.
Bake in the preheated oven until centers are set, 15 to 20 minutes, switching racks halfway through. Transfer cookies to a wire rack to cool to room temperature, about 30 minutes.
Meanwhile, make the icing: Stir together confectioners' sugar, milk, butter, and vanilla in a bowl until smooth. Add milk as needed, to achieve drizzling consistency.
Drizzle icing over cooled cookies with a fork.