01 - Preheat oven to 350°F. Lightly grease a donut pan with butter or nonstick spray.
02 - In a medium bowl, whisk together the flour, baking powder, baking soda, salt, ground ginger, cinnamon, cloves, and nutmeg.
03 - In a large bowl, whisk eggs and brown sugar until combined. Add molasses, milk, melted butter, and vanilla extract; whisk until smooth.
04 - Gradually add the dry mixture to the wet ingredients, stirring gently until just combined. Avoid overmixing.
05 - Spoon or pipe batter into donut pan cavities, filling each about two-thirds full.
06 - Bake for 12 to 15 minutes or until a toothpick inserted in the center comes out clean. Let donuts cool in the pan for 5 minutes before transferring to a wire rack.
07 - Whisk powdered sugar with 2 tablespoons milk and cinnamon in a small bowl until smooth. Add more milk, if needed, for desired consistency.
08 - Dip cooled donuts in glaze, allowing excess to drip off, then place on a rack to set.