Adjust an oven rack to the middle position and heat the oven to 375 degrees.

Mix together ½ cup of sugar plus 2 teaspoons grated orange zest in a shallow bowl for coating and set aside.

Whisk the flour, baking soda, spices, pepper, and salt together in a large bowl and set aside.

Beat the butter, brown sugar, and remaining ⅓ cup granulated sugar together in a large bowl using an electric mixer on medium speed until light and fluffy, 3 to 6 minutes.

Beat in the egg yolk and vanilla until combined, about 30 seconds.

Beat in the molasses and maple syrup until incorporated, about 30 seconds, scraping down the bowl and beaters as needed.

Reduce the mixer speed to low and slowly mix in the flour mixture until combined, about 30 seconds (the dough will be soft).

Give the dough a final stir with a rubber spatula to make sure it is combined.

Using wet hands, roll 2 tablespoons of dough at a time into balls, then roll in the sugar and zest mixture to coat and lay on two parchment-lined baking sheets, spaced about 2 inches apart.

Bake the cookies, one sheet at a time, until the edges are set and the tops are cracked but the centers are still soft and underdone (peek through the cracks to check the centers), 10 to 12 minutes, rotating the baking sheet halfway through baking.

Let the cookies cool on the baking sheet for 10 minutes, then serve warm or transfer to wire rack and let cool completely.