Step 1: Preheat oven to 375°F (190°C). Line two baking sheets with parchment paper or silicone mats.
Step 2: In a medium bowl, whisk together the flour, baking soda, salt, cinnamon, ginger, nutmeg, and cloves. Set aside.
Step 3: In a large bowl, using an electric mixer, cream together the softened butter and brown sugar until light and fluffy (about 2-3 minutes).
Step 4: Beat in the egg until well combined. Then, mix in the pumpkin puree, milk, and vanilla extract until smooth.
Step 5: Gradually add the dry ingredients to the wet ingredients, mixing on low speed until just combined. Do not overmix. The batter will be thick.
Step 6: Drop rounded tablespoons of batter onto the prepared baking sheets, leaving about 2 inches between each mound.
Step 7: Bake for 10-12 minutes, or until the edges are set and the centers spring back when lightly touched. Do not overbake.
Step 8: Let the cookies cool on the baking sheets for 5 minutes before transferring them to a wire rack to cool completely.
Step 9: While the cookies cool, prepare the filling: In a large bowl, beat the softened cream cheese and butter with an electric mixer until smooth and creamy.
Step 10: Gradually add the sifted powdered sugar, maple syrup, vanilla extract, and pinch of salt. Beat on low speed until incorporated, then increase speed to medium-high and beat until light and fluffy.
Step 11: Once the cookies are completely cool, spread about 1-2 tablespoons of the maple cream cheese filling on the flat side of one cookie. Top with another cookie, pressing gently to create a sandwich.
Step 12: Repeat with the remaining cookies and filling. Serve immediately or store.