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In the bowl of a stand mixer on low speed fitted with the paddle attachment, stir together the flour, sugar, cinnamon, ginger, cloves, nutmeg, salt, and baking soda at low speed until combined, about 30 seconds. Add the butter, one piece at a time while mixing at medium-low speed until the mixture is slightly gritty, about 1-2 minutes.
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Slowly add in the molasses and milk, and mix until thoroughly combined.
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Divide the dough in half and roll the first dough portion out between two large sheets of parchment paper, into a 1/4 inch thickness. Place rolled dough sheet (with parchment papers) on a large baking pan.
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Repeat with second half of dough and stack on top of the first sheet.
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Place the baking pan in the fridge for 2 hours (or the freezer for 25 minutes).
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Preheat your oven to 350 F. Line two large baking pans with parchment paper and set aside.
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Remove one dough sheet from the freezer, peel off both parchment papers to ensure the dough is not sticking and lay back on top of the bottom parchment sheet.
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Using a cookie cutter (we used a 3-inch), cut into shapes and transfer each cookie to the lined baking pans at least 3/4 inch apart. Repeat with remaining dough. Place the baking sheet back in the freezer for 10 minutes. Meanwhile, remove the other dough sheet and repeat.
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Bake (one pan at a time) in preheated oven until the cookies are puffy and just set around the edges, 8 to 11 minutes, rotating pan halfway through. Be careful not to overbake.
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Allow the cookies to cool on the baking pan for 2 minutes, then remove with wide metal spatula to wire rack to cool completely. Repeat with any remaining dough.