Prepare the Cookies:

1. Preheat your oven to 350°F (175°C). Line baking sheets with parchment paper.
2. In a medium bowl, whisk together flour, baking powder, baking soda, cinnamon, ginger, cloves, and salt.
3. In a large bowl, beat the granulated sugar and butter until light and fluffy.
4. Add the pumpkin puree, egg, and vanilla extract to the butter mixture and beat until well combined.
5. Gradually add the dry ingredients to the wet ingredients, mixing until just combined.
6. Drop dough by tablespoonfuls onto the prepared baking sheets, spacing them about 2 inches apart.
7. Bake for 10-12 minutes, or until cookies are set and lightly browned. Allow to cool on baking sheets for a few minutes before transferring to wire racks to cool completely.

Prepare the Brown Butter Icing:

1. In a medium saucepan, melt the butter over medium heat. Cook until the butter turns golden brown and has a nutty aroma, about 3-5 minutes. Remove from heat and let cool for 2-3 minutes.
2. In a medium bowl, combine the powdered sugar, milk, and vanilla extract. Whisk in the cooled brown butter until the icing is smooth and spreadable.

Ice the Cookies:

1. Once the cookies are completely cooled, spread the brown butter icing over the top of each cookie. Allow the icing to set before serving.

Serve and Enjoy:

1. Serve the cookies and enjoy the delicious fall flavors!