In a medium bowl, whisk together the flour, ginger, cinnamon, cloves, baking soda, and salt until the spices are evenly distributed.

In a large bowl, beat the softened butter and dark brown sugar with an electric mixer on medium speed for 2 to 3 minutes. The mixture should look creamy and slightly fluffy rather than greasy.

Beat in the egg until fully incorporated: Add the molasses and vanilla, then mix on low speed until smooth. Scrape the sides and bottom of the bowl as needed.

Add the dry ingredients in two or three additions, mixing on low speed just until combined. The dough should be soft and slightly tacky but sturdy enough to hold together when pressed.

Divide the dough into two equal portions and flatten each into a disk about 1 inch (2.5 cm) thick. Wrap tightly and refrigerate for at least 1 hour. The chilled dough should feel firm but still be rollable.

Preheat the oven to 350°F (175°C). Line two large baking sheets with parchment paper.

Lightly flour the work surface and rolling pin: Roll one chilled disk to an even 1/4-inch (6 mm) thickness. If the dough cracks at the edges, let it stand at room temperature for 2 to 3 minutes before continuing.

Cut the dough with a 3- to 4-inch (7.5- to 10-cm) gingerbread person cutter. Transfer the shapes to the prepared baking sheets, leaving about 1 1/2 inches (4 cm) between cookies.

Gather the scraps gently, press them together, and reroll once or twice. Avoid adding excessive flour, which can make later cookies dry.

If the cut cookies feel very soft after rolling, refrigerate the baking sheet for 10 minutes before baking. Cold dough produces cleaner edges and less spreading.

Bake one sheet at a time on the center rack for 8 to 10 minutes. The edges should look set, while the centers should still appear slightly soft and puffed. For chewier cookies, avoid waiting for the centers to become firm in the oven.

Let the cookies remain on the hot baking sheets for 5 minutes. They will finish setting from the residual heat without becoming excessively crisp.

Transfer the cookies to wire racks and cool for about 25 minutes, or until completely cool before decorating.

Whisk the powdered sugar, milk, vanilla, and salt until smooth. The icing should be thick enough to hold a piped line. If too thick, add milk 1/4 teaspoon at a time; if too thin, add a little more powdered sugar.

Transfer the icing to a piping bag or small zip-top bag with a tiny corner snipped off. Pipe faces, buttons, cuffs, or simple outlines onto the cooled gingerbread men.

Leave the decorated cookies uncovered at room temperature for about 20 minutes, or until the icing feels dry enough to handle without smearing.