Make the cookies: Preheat the oven to 350°F (180°C). Line three baking sheets with parchment paper and set aside.
In a medium-sized mixing bowl, whisk the flour, baking soda, salt, cornstarch, ginger, cinnamon, and cloves.
In a large mixing bowl, add the butter, sugar and molasses. Beat until light and fluffy, 1-2 minutes. Add the milk and vanilla and beat again until smooth and creamy.
Add about half of the flour mixture to the wet mixture and mix until just combined. Add the rest and mix until just combined.
Roll out ~1.5 tbsp (22 g) balls of dough. Place on the prepared baking sheets, leaving about 2" (5 cm) between each.
Bake in the oven for 9-11 minutes.
Allow to cool completely.
Make the glaze: In a small bowl, beat all ingredients. Add more milk, as needed, to create a slightly thick glaze that is able to be easily dipped into.
Dip each cookie into the glaze and place on parchment paper or wax paper. Immediately top with sprinkles, allow to set, and enjoy!