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Preheat the oven to 350 degrees F.
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In a large mixing bowl, combine the melted butter, brown sugar, and molasses. Whisk well to combine. Add the whole egg, and whisk until completely incorporated.
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In a separate medium size mixing bowl, combine the unbleached flour, baking powder, kosher salt, ground ginger, cinnamon, cloves, and cocoa powder. Whisk to combine.
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Add the dry ingredients to the large bowl with the butter/molasses mixture. Use a wooden spoon to combine until there are no streaks of flour. Use clean hands to knead the dough for 1-2 minutes until smooth. Cover the bowl with a clean tea towel, and refrigerate the dough for 15-20 minutes.
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LIne a rimmed baking sheet with parchment paper. Set aside.
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Flour your work surface, and pour the dough out on the work surface. Roll the dough out into a large even circle, about ½-inch thick. Use cookie stamps to imprint the design onto the dough, then use cookie/biscuit cutters to cut out the cookies. Place the stamped cookies onto the prepared baking sheet, and baked for 8-10 minutes until slightly puffy and set. Allow the cookies to cool completely on a wire rack.
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Meanwhile make the glaze. In a small mixing bowl, combine the powdered sugar, vanilla extract, and milk. Whisk until smooth. For a thicker glaze, add an extra 1-2 tablespoons of powdered sugar. For thinner glaze, and an extra teaspoon of milk.
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Once the cookies are cooled, dip them into the glaze, stamped side down, allowing any extra glaze to drip off, then place the cookies back on the cooling rack while the glaze sets.