In a medium sized bowl, combine the flour, cinnamon, ginger, cloves, salt and baking soda. Set aside.
In the mixer, with the paddle, add the butter and sugar. Cream until light and fluffy, about 2-3 minutes.
Add the flour, in 2-3 additions, scraping down the sides as needed. The mixture should resemble sand.
With the mixer on low, slowly add the molasses and milk and mix until the dough comes together, about 10-15 seconds.
Turn the dough out on a sheet of parchment paper and pat into a ball. Alternatively you can split the dough into two balls, if it's easier to work with. Cover the dough with an other sheet of parchment paper and roll out to a thickness of 1/4 inch. The thinner you roll your dough, the less chewy it will be.
If making the cookies right away, put the dough in the freezer for about 15-20 minutes. I however, made it the day before and left it in the fridge. It won't be as sticky and much easier to work with when it's chilled.
Preheat the oven to 175°C (350°f) and position the racks to the upper-middle and lower-middle positions
If you split the dough into two parts, work with one at a time, keeping the other part in the freezer. Remove the parchment from one side of the dough, and place on a floured surface. Cut out shapes with cookie cutters and place onto a parchment lined (or silicone cooking mat) cookie sheet.
This dough softens quite quickly so I like to pop the pan into the fridge or freezer, for a couple minutes before cooking. You can also re-roll the scraps of the dough for more cookies, however be sure to chill again before using.
If baking two trays at once, rotate the pans half way through baking. Bake for 8-11 minutes or until the centers of the cookies are set.