Preheat the oven to 350°F (176℃) and line a baking sheet with parchment paper.
In a large mixing bowl, whisk together the flour, baking powder, baking soda, salt, cinnamon, nutmeg, and cloves. Set aside.
Using a stand mixer or hand mixer, cream together the butter, brown sugar, and granulated white sugar on medium-high speed until light and fluffy, approximately 2 minutes.
Add the egg and egg yolk and mix for another minute. Add the pumpkin and vanilla and beat on low speed until just combined.
Slowly add the dry ingredients to the wet ingredients and mix on low speed until just combined, scraping down the sides of the bowl as needed.
Sammy's Tip: If the batter is very sticky, refrigerate for 20–30 minutes to make it easier to handle. If the batter is refrigerated for longer than 30 minutes, allow it to sit at room temperature for approximately 20 minutes before scooping.
Using a cookie scoop, portion the batter onto the prepared baking sheet. Gently flatten each cookie with the back of a spoon. You may need to rinse the spoon with cold water between cookies to prevent the batter from sticking. Bake for 12–15 minutes, or until the edges of the cookies begin to turn golden brown.
Remove from the oven and allow the cookies to rest on the baking sheet for 5 minutes before transferring them to a cooling rack.
Allow the cookies to cool completely before applying the glaze.