In a medium bowl, whisk together 2 cups all-purpose flour, 1 teaspoon baking powder, 1/2 teaspoon baking soda, 1 teaspoon ground cinnamon, 1/2 teaspoon ground nutmeg, 1/4 teaspoon ground ginger, 1/4 teaspoon ground cloves, and 1/2 teaspoon salt. In a large bowl, beat 1/2 cup unsalted butter (softened) with 3/4 cup granulated sugar and 1/4 cup brown sugar until creamy. Add 1 large egg and 1 teaspoon vanilla extract, mixing well. Stir in 1 cup pumpkin puree (not pumpkin pie filling) and 1/4 cup pure maple syrup. Gradually add the dry ingredients to the wet ingredients, mixing until just combined.
Preheat the oven to 350°F (175°C). Drop spoonfuls of dough onto a baking sheet lined with parchment paper, spacing them about 2 inches apart. Bake for 10-12 minutes or until the edges are lightly browned. Remove from the oven and let cool on a wire rack.
In a small bowl, whisk together 1 cup powdered sugar, 2 tablespoons pure maple syrup, 1 to 2 tablespoons milk or cream, and 1/2 teaspoon vanilla extract until smooth. Drizzle the glaze over the cooled cookies before serving.