Step 1: Preheat your oven to 350°F (175°C) and line two large baking sheets with parchment paper.
Step 2: In a medium bowl, whisk together the flour, baking soda, baking powder, cinnamon, nutmeg, cloves, and salt.
Step 3: In a large bowl, cream the softened butter, granulated sugar, and brown sugar until light and fluffy, about 3 minutes.
Step 4: Add the pumpkin puree, egg, and vanilla extract to the butter mixture and beat until well combined.
Step 5: Gradually add the dry ingredients to the wet ingredients, mixing on low speed until just combined. Do not overmix the maple glazed pumpkin cookies dough.
Step 6: Drop rounded tablespoons of dough onto the prepared baking sheets, spaced about 2 inches apart.
Step 7: Bake for 10-12 minutes or until the edges are set and the tops spring back when lightly touched.
Step 8: Allow cookies to cool on the baking sheet for 5 minutes before transferring to a wire rack to cool completely.
Step 9: Prepare the glaze by whisking together the powdered sugar, maple syrup, and milk in a small bowl until smooth.
Step 10: Once the maple glazed pumpkin cookies are fully cooled, dip the tops into the glaze or drizzle it over them with a spoon. Let the glaze set before serving.