Preheat your oven to 350°F (175°C) and line baking sheets with parchment paper or silicone baking mats.

In a medium bowl, whisk together the flour, baking powder, baking soda, salt, cinnamon, nutmeg, and cloves. Set aside.

In a large mixing bowl, cream the softened butter and granulated sugar together using an electric mixer until light and fluffy, about 2-3 minutes.

Add the pumpkin puree, egg, and vanilla extract to the butter mixture and beat until well combined.

Gradually add the dry ingredients to the wet ingredients, mixing until just combined. Do not overmix.

Using a spoon or cookie scoop, drop rounded tablespoons of dough onto the prepared baking sheets, spacing them about 2 inches apart.

Bake in the preheated oven for 12-15 minutes, or until the cookies are set and the edges are lightly golden. Avoid overbaking to keep the cookies soft.

Remove the cookies from the oven and let them cool on the baking sheets for 5 minutes before transferring them to a wire rack to cool completely.

For the optional glaze, whisk together the powdered sugar, milk, and vanilla extract in a small bowl until smooth. Drizzle the glaze over the cooled cookies and let it set before serving.