In a large bowl mix together butter, sugars, and vanilla. Add egg, pumpkin puree, and molasses and mix again until combined.
In a medium bowl whisk together flour, baking soda, cinnamon, pumpkin pie spice, ginger, salt, and cloves.
Add dry ingredients to wet ingredients and stir until incorporated (do not over-mix).
Cover and chill for at least 1 hour.
Preheat oven to 350 degrees and line a baking sheet with parchment or a baking mat. Scoop cookie dough and roll into 1 1/2-inch balls. Whisk together the cinnamon and sugar and roll each cookie dough ball in the cinnamon-sugar mixture, then place on prepared baking sheet 3 inches apart.
Bake in preheated oven for 10-13 minutes. Allow to cool completely on the pan.
When cookies have cooled, prepare the icing. Combine melted butter, vanilla, maple syrup, powdered sugar, and 2 tablespoons of milk. Whisk until completely combined. Add a little more milk as necessary until smooth. Heat in the microwave for 20-30 seconds til just warmed and slightly runny.
Dip cookies in the icing and allow to set for a few minutes before serving or storing in airtight container up to 5 days.