Preheat your oven to 350°F (175°C). 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. Set aside.
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 (make sure it is not pumpkin pie filling) and 1/4 cup pure maple syrup until well combined.
Gradually add the dry ingredients to the wet ingredients, mixing until just combined. Do not overmix.
Drop spoonfuls of dough onto a baking sheet lined with parchment paper, spacing them about 2 inches apart. Bake for 12-15 minutes or until the edges are lightly browned. Allow cookies to cool on the baking sheet for a few minutes, then transfer to a wire rack to cool completely.
In a small bowl, whisk together 1 cup powdered sugar, 2 tablespoons pure maple syrup, 1 to 2 tablespoons milk or cream (adjust to reach desired consistency), and 1/2 teaspoon vanilla extract until smooth.
Once the cookies have cooled, drizzle the maple glaze over the tops. Allow the glaze to set before serving.