In a small bowl, whisk together the flour, baking soda, cinnamon, ginger, cloves, and sea salt. Set aside.
In the bowl of a stand mixer fitted with the paddle attachment, cream together the softened butter and brown sugar for 1-2 minutes, until light and fluffy.
Add the molasses, egg, and vanilla extract to the butter mixture, and beat for 60-90 seconds until smooth.
Gradually add the dry ingredients to the wet mixture and beat on low speed until fully combined.
Transfer the dough to an airtight container and refrigerate for at least 1 hour, or overnight for best results.
Preheat your oven to 350°F (175°C) and line a large baking sheet with parchment paper.
Using a small cookie scoop, portion out 1 ½ to 2 tablespoons of dough and roll into balls.
Place the dough balls on the prepared baking sheet, leaving about 2 inches of space between each cookie.
Bake for 9-11 minutes or until the tops look just set. Let the cookies cool on the baking sheet for 5 minutes before transferring to a wire rack to cool completely.
(Optional) To make the glaze, whisk together powdered sugar and milk until smooth. Drizzle over cooled cookies.