In a large bowl, beat the butter, brown sugar and granulated sugar with a mixer on medium speed for 2 minutes, until light and fluffy. Beat in the molasses, milk and vanilla until combined.
In a separate bowl, whisk together the flour, baking soda, ginger, cinnamon, cloves and salt. Add to the butter mixture and mix on low until a soft dough forms.
Cover and chill the dough for at least 1 hour or up to 2 days. The dough is sticky at first, and chilling makes it easy to roll while giving you thick, chewy centers.
Preheat the oven to 350°F and line two baking sheets with parchment paper. Roll the dough into 1 1/2 tbsp balls, coat them in turbinado sugar and place them 2 1/2 inches apart.
Bake for 9-10 minutes, until puffed and crinkled on top with soft-looking centers. Don't overbake, or they will lose their chew.
Cool on the baking sheet for 10 minutes, where they will settle and crinkle even more, then transfer to a wire rack. Makes about 24 cookies.