Combine the flour, baking soda, baking powder, spices, and salt in a medium bowl.

Cream the butter, sugar, and brown sugar until light and fluffy, about 2-3 minutes.

Add the pumpkin puree and mix until well combined, scraping down the sides as needed.

Add the egg and vanilla extract, mixing until incorporated.

Gradually add the dry ingredients, mixing until just combined. The dough will be sticky.

Drop 2 tablespoon-sized balls of dough onto a parchment-lined baking sheet. Chill for at least an hour.

Preheat oven to 350°F. Line baking sheets with parchment or silicone mats.

Place the cookies on baking sheets and bake for 9-11 minutes until edges are set.

Remove from oven and cool on a wire rack for 3-4 minutes.

Prepare the glaze by whisking together powdered sugar, cinnamon, vanilla, and 1 tablespoon of milk. Adjust milk as needed.

Drizzle glaze over cooled cookies and let dry. Serve when ready.