Follow these steps to create fluffy Pumpkin Cookies w/ Cinnamon Frosting:

1. Preheat the Oven: Preheat your oven to 350°F (175°C) and line a baking sheet with parchment paper.
2. Mix Wet Ingredients: In a large bowl, combine the pumpkin puree, sugar, brown sugar, vegetable oil, eggs, and vanilla extract. Whisk until well blended.
3. Combine Dry Ingredients: In another bowl, whisk together the flour, baking powder, baking soda, cinnamon, nutmeg, ginger, salt, and ground cloves, if using.
4. Combine Both Mixtures: Gradually add the dry ingredients to the wet mixture, stirring until just combined. Do not overmix.
5. Scoop the Dough: Using a cookie scoop or tablespoon, drop spoonfuls of cookie dough onto the prepared baking sheet, spacing them about 2 inches apart.
6. Bake the Cookies: Place the baking sheet in the preheated oven and bake for 10-12 minutes, or until the edges are set and the centers look slightly soft.
7. Cool the Cookies: Remove from the oven and allow the cookies to cool on the baking sheet for 5 minutes. Then, transfer them to a wire rack to cool completely.
8. Prepare the Frosting: While the cookies cool, make the frosting by beating the softened butter until creamy. Gradually add powdered sugar and continue mixing until smooth.
9. Add Milk and Flavor: Add milk, vanilla extract, and ground cinnamon. Beat until the frosting is fluffy and spreadable.
10. Frost the Cookies: Once the cookies have cooled completely, spread the cinnamon frosting evenly on top of each cookie.