Preheat oven to 375 degrees F. Line a baking sheet with parchment paper or a silicone mat.
In a medium bowl, whisk together the flour, baking powder, cinnamon, nutmeg, ginger, cloves, and salt until combined. Set aside.
In a large mixing bowl, beat together butter and sugar until light and fluffy, about 1 minute.
Add in pumpkin puree and vanilla and beat everything together, making sure to scrape down the sides of the bowl as needed.
Slowly add in the flour mixture while mixing on low speed. Continue to mix until just combined.
Drop cookie dough by the tablespoonful onto your prepared baking sheet, 1-inch apart. I like to use a cookie scoop for this, but a measuring spoon works fine too.
Place the cookies into the oven and bake for 12-15 minutes. Remove from the oven and transfer to a wire rack to cool completely. Repeat with remaining cookie dough.
Mapel Frosting
Whisk together the powdered sugar, maple syrup, and vanilla in a medium mixing bowl until smooth. Transfer the frosting to a piping bag. (see note)
Once cookies have finished cooling, drizzle maple frosting over each cookie.
Let the frosting sit for 5 minutes. Store in an air-tight container.
Notes
If you prefer, you can dip the top of each cooking the frosting instead. Or you can use a spoon or a ziploz bag with a corner cut off to drizzle the frosting over each cookie if you don't have piping bags on hand.