Preheat oven to 350℉. Line a baking sheet with parchment paper and set aside.
In a large bowl with a hand mixer (or stand mixer), cream together butter and sugar. Add molasses and egg and beat until fluffy, about a minute.
In a separate bowl, sift (or whisk) together the flour, baking soda, ginger, cinnamon, salt, and cloves.
Add dry ingredients to butter mixture and mix until just combined (do not overmix).
Divide dough in half.
Dust counter top, rolling pin, and top of dough with flour. Working with one half at a time, roll dough out to ¼" thickness, dusting with additional flour as needed to prevent sticking.
Using cookie cutters, cut into various shapes and place onto prepared baking sheet about 1 inch apart.
Bake cookies until cookies begin to lightly brown around edges and they no longer look wet on top, about 8 to 9 minutes.. Remove from oven and allow to cool for 5 minutes on baking sheet before transferring to a cooling rack to cool completely.
Icing
In a bowl, combine confectioners sugar, milk, and vanilla extract, using a whisk if needed to remove clumps. Icing should be smooth and shiny.
Optionally, divide icing between bowls and add gel food coloring to achieve desired colors.
Spoon icing into a small ziptop bag, seal shut, then snip off a small corner. Pipe icing onto cookies in desired designs. Alternatively, use a knife to spread icing onto cookies (you may need an extra ½ tablespoon of milk to make icing more spreadable with a knife).
Optionally, add sprinkles while icing is wet.
Allow cookies to dry for several hours before stacking and/or storing.
Notes
* How to measure flour properly: Use a kitchen scale to measure flour for accurate results every time. If you don't have a kitchen scale, use the spoon and level method. Stir the flour (especially if it's been packed down in a bag/container), then gently spoon into the measuring cup, leveling off the top with a knife. Scooping with a measuring cup compacts flour into the cup and adds up to 25% extra to the recipe, resulting in dry, bland cookies that don't spread properly.
Storage: Gingerbread cookies will keep for 5 to 7 days in a tightly sealed container at room temperature. To help keep cookies fresh, place a slice of bread in the cookie container and replace when it dries out.
Freezing: Cookies can be frozen for up to three months. To thaw, place on the countertop to bring to room temperature for 1 to 2 hours.
Food coloring: Gel and liquid food coloring both work in this recipe.