Add flour, brown sugar, cocoa powder, baking soda, cinnamon, ginger, clove, nutmeg, and salt to a large bowl and whisk or beat on low setting until just combined.
Add butter and beat at medium speed until the mixture resembles a coarse meal (will look like wet sand).
Add molasses, milk, and vanilla extract and continue mixing until you have a wet dough (about two minutes). Do not over mix.
Cover dough and place in freezer to chill for 30 to 45 minutes or refrigerate for later use (up to three days).
In a small bowl, mix together powdered and granulated sugars.
Preheat oven to 350 degrees. Line cookie sheet(s) with parchment paper and set aside.
Remove cookie dough from freezer and uncover. Scoop about three inches of dough and roll into a ball. Dip and roll in sugar mixture then place on prepared cookie sheet, leaving two to three inches of space between each ball (up to nine cookies per pan).
Transfer pan(s) to oven and bake cookies for 10 to 12 minutes then remove and let fully cool before handling. If using one cookie sheet, repeat baking process with remaining cookie dough and sugar mixture.