Preheat the oven. Preheat oven to 400°F. Line a baking sheet with parchment paper.
Combine the dry ingredients. In a large bowl, whisk together the flour, brown sugar, baking powder, cinnamon, ginger, nutmeg, cloves, and salt.
Cut in the butter. Add the cold cubed butter. Use a pastry cutter, fork, or your fingertips to work the butter into the flour mixture until you have pea-sized pieces.
Mix the wet ingredients. In a separate bowl, whisk together the pumpkin puree, egg, vanilla, and 3 tablespoons milk.
Make the dough. Pour the wet ingredients into the dry ingredients and gently stir until the dough just begins to come together. If it seems too dry, add an additional splash of milk.
Shape the scones. Turn the dough onto a lightly floured surface. Gently press it into a round about 1-inch thick. Cut into 8 wedges.
Chill if needed. If the dough has become warm or soft, place the shaped scones in the refrigerator for 10–15 minutes before baking.
Brush and bake. Transfer the scones to the prepared baking sheet, leaving a little space between each one. Brush the tops lightly with milk or cream. Bake for 18–22 minutes, or until the edges and bottoms are lightly golden.
Cool. Transfer to a cooling rack and allow the scones to cool for at least 10 minutes before adding the glaze.
Make the maple drizzle. Whisk together the powdered sugar, maple syrup, milk, vanilla, and salt until smooth. Add more milk as needed to reach a drizzleable consistency.
Drizzle and serve. Spoon or drizzle the maple glaze over the cooled pumpkin scones.