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In a stand mixer with paddle attachment, combine butter, brown sugar, milk powder, ginger, cinnamon, salt, baking soda, nutmeg and cloves. Mix on low for 30 seconds, then beat on medium until smooth and stiff, about 2 minutes.
Scrape down bowl and paddle, add molasses, egg yolk, and vanilla. Mix on low until combined, scraping as needed.
Add flour and mix on low until crumbly dough forms. Scrape down bowl and paddle, then mix another 20 seconds until rough dough forms.
Knead dough in bowl 3-4 times to make smooth dough.
Divide dough in half and pat each portion into a 1-inch-thick slab. Wrap in plastic wrap and refrigerate for 1 hour.
Preheat oven to 375°F with rack in center position. Line 2 baking sheets with parchment paper.
Sprinkle parchment with powdered sugar. Roll out dough ⅛ inch thick, moving it around after every couple of rolling pin passes to prevent sticking.
Cut out cookies and reroll scraps to cut more cookies.
Bake one sheet at a time on center rack for 7-9 minutes for soft cookies, or 1-2 minutes longer for crisp cookies until edges are golden brown.
Let cookies cool on the tray.