Preheat the oven to 350F (175C) and line an 8" by 5" (20cm by 13cm) loaf pan or similar with parchment paper.
In a large bowl, whisk together the flour, baking soda, baking powder, ground ginger, ground cinnamon, ground cloves, and salt until well combined.
In a saucepan, combine the molasses, butter, milk, and vanilla extract. Heat over medium heat, stirring occasionally, until the butter has melted and the mixture is hot but not boiling.
Pour the hot molasses mixture into the dry ingredients and whisk until just combined and no dry streaks remain. Do not overmix. The batter won’t look smooth, and that’s okay. The most important thing is that no dry specks of flour are left.
Pour the batter into the prepared loaf pan and tap it gently on the counter to release any large air bubbles.
Bake for 40 to 50 minutes, or until a toothpick inserted into the center comes out clean or with a few moist crumbs.
Let the loaf cool in the pan for 10 minutes, then lift it out using the parchment paper and transfer it to a wire rack to cool completely.
For the glaze, whisk the powdered sugar with 1 tablespoon of water until smooth. Add more water, a little at a time, until the glaze is thick but still pourable.
Drizzle the glaze over the cooled loaf and let it set for a few minutes before slicing.