In a medium bowl, whisk together the flour, baking soda, ginger, cinnamon, cloves, nutmeg, and salt.
In a large bowl, beat softened butter and dark brown sugar with a hand mixer for 2–3 minutes, until smooth and fluffy.
Add the molasses and beat until incorporated.
Add the milk and vanilla extract, mixing until combined. The mixture may look slightly separated; that's okay.
Add the dry ingredients and mix on low speed or fold with a spatula just until a soft dough forms. Don't overmix.
Cover and refrigerate for 30 minutes, until the dough is easy to scoop and roll.
Preheat the oven to 350°F (180°C) and line baking sheets with parchment paper.
Place the granulated sugar in a shallow bowl.
Scoop the dough with a 1½-inch cookie scoop, roll into balls, then coat each ball in granulated sugar.
Arrange cookies about 2½–3 inches apart on the baking sheets.
Bake for 10–12 minutes, until the edges are set and the tops are crackled but the centers still look slightly soft. About 11 minutes is a good starting point.
Cool on the baking sheet for 5 minutes before transferring to a wire rack.
Notes
Use regular unsulphured molasses, not blackstrap.
Chill the dough before rolling to make it easier to handle.
Don't overbake! The cookies will continue setting as they cool.
For thicker cookies, chill the dough longer.
For flatter cookies, allow chilled dough to warm slightly or gently flatten before baking.
Store cooled cookies in an airtight container for 4-5 days to help maintain their soft texture.