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

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 together the softened butter, brown sugar, and granulated sugar until light and fluffy, about 2-3 minutes.

Beat in the eggs one at a time, followed by the pumpkin puree and vanilla extract until thoroughly combined.

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

Drop rounded tablespoons of dough onto the prepared baking sheets, spacing them about 2 inches apart.

Bake the cookies in the preheated oven for 12-15 minutes, or until the edges are lightly golden and the centers are set.

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.

While the cookies are cooling, prepare the frosting. In a medium bowl, beat together the powdered sugar, butter, milk, vanilla extract, and ground cinnamon until smooth and creamy.

Once the cookies are completely cool, spread a generous layer of frosting on top of each one.

If desired, decorate the frosted cookies with autumn-themed sprinkles for a festive touch.