Lightly spoon flour into dry measuring cups; level with a knife. Combine flour and next 7 ingredients (through cloves) in a large bowl, stirring with a whisk.
Combine powdered sugar and milk, stirring until smooth. Spoon mixture into a heavy-duty zip-top plastic bag. Snip a tiny hole in 1 corner of bag. Pipe onto cookies. Decorate as desired with sugar sprinkles.
Sometimes the dough can be overly sticky. Just be sure to use plenty of flour when rolling out.