1. Using an electric mixer, combine flour, brown sugar, baking soda, cinnamon, ginger, cloves, and salt on low speed for about 20 seconds.
2. Add the butter cubes and mix at medium-low speed until the mixture resembles fine meal, about 1 1/2 minutes.
3. Slowly add molasses and milk while mixer runs on low speed, then increase to medium and mix briefly until the dough is evenly moistened and well combined.
4. Scrape dough onto a work surface and divide into two disks. Cover with plastic wrap and chill in the freezer for 20-30 minutes or refrigerate for 2 hours to overnight.
5. Preheat oven to 350°F (175°C) and line baking sheets with parchment paper.
6. Scoop heaping tablespoon portions of dough and roll into balls. If dough becomes too warm, refrigerate the formed balls for 10 minutes before baking.
7. Roll each dough ball first in granulated sugar, then in confectioners’ sugar.
8. Place dough balls approximately 1 inch apart on prepared baking sheets.
9. Bake for 12 minutes until set, with crinkly tops and slightly crisp edges.
10. Let cookies cool on the baking sheets for 2 minutes before transferring to wire racks to cool completely.