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