Soft Pumpkin Cookies with Vanilla Icing (Libby's Adaptation)

Ingredients

• 2 ¼ cups all-purpose flour
• 1 teaspoon baking soda
• 1 teaspoon baking powder
• 1 teaspoon ground cinnamon
• ½ teaspoon ground cloves
• ½ teaspoon kosher salt
• ½ cup (1 stick) unsalted butter ((softened))
• ¾ cup light or dark brown sugar
• ¾ cup granulated sugar
• 1 cup pureed canned pumpkin ((not pumpkin pie filling!))
• 1 large egg
• 2 cups confectioners’ sugar (powdered sugar)
• 3 tablespoons milk
• 1 tablespoon unsalted butter ((melted))
• 1 teaspoon pure vanilla extract
• Pinch kosher salt