In an electric mixer, mix together flour, brown sugar, cinnamon, ginger, cloves, salt and baking soda. Mix until well combined.
Add butter and mix until there are pea-sized pieces. Add milk and molasses. Continue to mix until just moistened.
Remove the dough from the mixer and form it into a ball. Flatten between two sheets of plastic wrap until it’s about ¼ inch thick. Chill in the freezer for 30 minutes or in the refrigerator overnight.
Preheat oven to 350F degrees and line baking sheet with parchment paper.
Unwrap dough and cut with cookie cutters. Place on prepared baking sheet. Bring together any scraps and roll and cut.
Bake cookies on the center rack for 10 minutes.The cookies are done when the edges are slightly crispy. Allow to cool on the baking sheet before transferring. Decorate with icing.