For the pancakes: In a medium mixing bowl, whisk together the flour, cinnamon, baking powder, ginger, baking soda, salt, nutmeg and cloves. In another medium bowl, whisk together the milk, melted butter, molasses, brown sugar, orange zest and egg. Slowly add the milk mixture to the flour mixture and stir until just combined. It is ok if the batter is a little lumpy. Do not overmix or you will have tough pancakes. (Let the batter sit for at least 5 minutes and up to 30 minutes for fluffier pancakes.)
For the icing: In a small bowl, combine the confectioners' sugar and milk. Set aside.
Grease a griddle or nonstick skillet with butter and heat to medium high. Pour 1/4 to 1/3 cup batter per pancake onto the griddle. When small bubbles begin to form on the tops of the pancakes, after 2 to 3 minutes, flip the pancakes and cook on the other side for 2 to 3 minutes. Serve the pancakes immediately with the icing and garnish with sprinkles and whipped cream if desired.