In a large bowl, whisk flour, cinnamon, ginger, baking soda, cloves and salt to combine.
In a separate large bowl using electric hand mixer or in bowl of a stand mixer with paddle attachment, beat butter and brown sugar on high speed 2 minutes until smooth and light.
On low speed, stir in egg, then molasses, then milk. Mixture will be slightly lumpy; this is OK.
Slowly stir dry ingredients into wet ingredients until just combined.
Cover bowl and refrigerate dough 1 hour up to overnight.
Heat oven to 350 degrees F.
Line two baking sheets with parchment paper.
Shape dough into 1-inch balls; roll each ball in granulated sugar, then in powdered sugar, until well-coated.
Transfer to prepared baking sheet, spacing dough at least 2 inches apart.
Bake 9 to 11 minutes until edges of cookies are just set.
Cool cookies 5 minutes on baking sheets, then transfer to cooling rack to cool completely.
