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

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

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

Beat in the egg and vanilla extract until fully combined. Then, mix in the pumpkin puree and maple syrup until smooth.

Gradually add the dry ingredients to the wet ingredients, mixing on low speed until just combined. Be careful not to overmix.

Using a cookie scoop or spoon, drop tablespoons of dough onto the prepared baking sheets, spacing them about 2 inches apart. Bake for 12-15 minutes, or until the edges are set and the tops are slightly puffed.

Let the cookies cool on the baking sheet for 5 minutes, then transfer them to a cooling rack to cool completely.

In a small bowl, whisk together the powdered sugar, maple syrup, milk (or cream), and vanilla extract until smooth. The glaze should be thick but pourable—add more milk if needed.

Once the cookies are completely cool, drizzle or spread the maple glaze over the tops. Let the glaze set for about 10 minutes before serving.