For the Gingerbread Crinkle Cookies:
In the bowl of a stand mixer fitted with the paddle attachment (or using a handheld mixer), combine flour, brown sugar, cinnamon, ginger, salt, baking soda, and ground cloves. Mix until well combined.
Add the cold, cubed butter and mix using a fork, your fingers, or a pastry cutter until small pea-sized pieces form and the mixture resembles wet sand.
With the mixer on low speed, slowly pour in the molasses and milk. Beat until the dough is evenly moistened. Increase to medium speed and beat until well combined. The dough may look crumbly but will come together.
Transfer the dough to a work surface and shape it into a disk. Wrap in plastic wrap and refrigerate for 1-2 hours or overnight.
Preheat the oven to 350°F. Line two baking sheets with parchment paper.
Once the dough is chilled, use a 1-tablespoon cookie scoop to portion the dough and roll into balls. Roll each ball in granulated sugar, then in powdered sugar, until fully coated. Place the dough balls on the baking sheets about 1½ inches apart.
Bake for 10-12 minutes, or until the centers are set. Let the cookies cool on the baking sheets for 2 minutes before transferring them to a wire rack to cool completely.
Once cooled, pipe or spread vanilla bean cream cheese frosting on the flat side of one cookie. Sandwich with the flat side of another cookie. Repeat with the remaining cookies.
For the Vanilla Bean Cream Cheese Frosting:
In the bowl of a stand mixer fitted with the paddle attachment (or using a handheld mixer), beat the cream cheese and softened butter on high speed until smooth and creamy.
Add powdered sugar and vanilla bean paste, then beat on low speed for 30 seconds to combine. Increase speed to high and beat for an additional 2 minutes until light and fluffy.
Use the frosting to fill the gingerbread cookies and enjoy!