In a mixing bowl, combine all-purpose flour, baking soda, ground ginger, cinnamon, cloves, nutmeg, and salt.

In another bowl, cream softened butter and brown sugar until fluffy. Add the egg, molasses, and vanilla, mixing until smooth.

Gradually combine your wet and dry ingredients until a soft dough forms.

Divide the dough into two halves, wrap each in plastic wrap, and refrigerate for at least 1 hour.

Lightly flour your work surface and roll out the chilled dough to about 1/4-inch thickness. Cut out shapes with cookie cutters.

Preheat your oven to 350°F (175°C). Bake cookies for 8-12 minutes; cool before transferring to a wire rack.

In a bowl, whisk together the powdered sugar, lemon juice, and zest until smooth. Add milk to adjust consistency as needed.

Pipe lemon icing onto cooled cookies. Allow the icing to set for at least 30 minutes before serving.