Preheat the oven to 350°F (175°C). Grease and flour a 9x13-inch sheet cake pan or line it with parchment paper.

In a medium bowl, whisk together the flour, baking powder, baking soda, salt, cinnamon, ginger, nutmeg, and cloves.

In a large bowl, whisk together the granulated sugar, brown sugar, and vegetable oil until well combined.

Add the eggs one at a time, whisking after each addition. Stir in the pumpkin puree, milk, and vanilla extract until smooth.

Add the dry ingredients to the wet ingredients and mix just until combined. Do not overmix.

Pour the batter into the prepared pan and spread it evenly.

Bake for 28 to 32 minutes, or until a toothpick inserted in the center comes out clean.

Let the cake cool completely in the pan on a wire rack.

To make the frosting, beat the cream cheese and butter together until smooth and creamy.

Add the powdered sugar and vanilla extract, then beat until fluffy. Add milk, 1 tablespoon at a time, if needed to reach a spreadable consistency.

Spread the frosting evenly over the cooled cake.

Slice and serve.